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Position Board User`s Manual

1. 4 118 4 19 1 sscGetDigitallnputData it nnernenneenneenneenneennnennnnnnnennnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnan 4 118 4 19 2 sscGetDigitallnputDataWord u ernsennesnneennnennnennnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 4 119 4 19 3 sscSetDigitalOutputData it rs2rssnsnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 4 120 4 19 4 sscSetDigitalOutputDataW ord essent 4 121 4 19 5 sscGetDigitalOutputDataBit esssssesssseeeeeeeeneee nennen nennen nennen nnns 4 122 4 19 6 4 123 4 20 Mark detection functions cccccccccsccecssseeceesseeeeceseeeecssaeeecessseecsesaeecesesaeeeceseeeesesaseeessaeseesesaeeeeessaeess 4 124 4 20 1 55 Data amp 4 124 4 20 2 sscGetMarkDetectionCounter ccccccccsscccssssececssseeeeessseeesessececsaeeeessseeeeseaseeeessaeeeeessaeeesessaeees 4 126 4 20 3 sscClearMarkDetection Data cccccccscccccsssseccessseeeecccsseeeesesaeeeeesseeeesesseeesessaeeesesseeeeessaeeessaeeesens 4 127 4 21 Interface mode FUNCTIONS
2. obtained as many times as Monitoring data can be necessary during the period Example Sts sscStopMonitor bid ch 81 51 55 OK i Hes MM a C t 4 FUNCTION DETAILS 4 12 1 sscSetMonitor The monitor will be started After setting 4 monitor numbers during axis monitoring and 2 monitor numbers during system monitoring monitoring will begin by turning the monitor command signal MON ON and the monitor output signal MOUT will be confirmed to be on If the monitor output signal MOUT is already on monitoring will restart after the monitor command signal MON is OFF int sscSetMonitor int board_id int channel int axnum short monnum Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 4 to 32 0 System monitor 1 to 32 Axis monitor 4 to 1 Station monitor 1 Station 1 2 Station 2 3 Station 3 4 Station 4 monnum in Pointer to 8 byte array 2 bytes x 4 which stores the monitor numbers for 4 numbers Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location
3. ot 4 90 4714 2 SScWabDISable tir tien imer 4 91 4 14 3 sscChangeWdGOouhter aan ae e De eie Dee 4 92 4 15 Other axes start functions sssssssssssseeseeeneennne nennen nennen enne nennen nennen nennen nnne 4 93 4 15 1 sscSetOtherAxisStartData entes ned eee ena d da da In d ud 4 93 4 15 2 nennen nennen nnne nnne nennen 4 94 4 15 3 sscOtherAxisStartAbortOn sssssssssssssssssssseeeee nennen nennen ennt 4 95 4 15 4 sscOtherAxisStartAbOrtOTf 2 n tq deat d dte addet telle ale 4 96 4 15 5 sscGetOtherAxisStartStatus eusir EEKE AE ARKE nennen nennen nnne en enne nnn 4 97 4 16 Pass position interrupt functions nennen nnne nen nnne 4 98 4 16 1 5 4 98 4 16 2 sscChecklntPassPositionData sss 4 99 4 16 3 sscSetStartingPasSNUMbe cccccceeseeceseeeeeceeeeseeceneeceseeseeceeesseceeeeseecseecseeeeaeeteeseeeeseeseeeeteeenenses 4 100 4 16 4 sscGetExecutingPassNumber nnsenneenneenneennnennnennnennnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn een 4 101 4 17 Sampling te ge pte 4 102 4 1 7 1 8scStartsampling eek 4 102 4
4. Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point None Supported version Ver Header file Ver 1 02 me2xxstd h Reference sscSetDigitalOutputDataWord sscGetDigitalOutputDataBit 4 123 4 FUNCTION DETAILS 4 20 Mark detection functions 4 20 1 sscGetMarkDetectionData Mark detection data will be got int sscGetMarkDetectionData int board_id int channel int axnum int mark_num int read_fin_num int edge int position Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 mark_num in Mark detection setting number 1 to 2 read_fin_num out Pointer to 4 byte variable 4 bytes x 1 which stores the read complete buffer number 1 to 255 edge out Pointer to 1 byte structure 1 byte x 1 which stores the mark detection edge data SSC_MARK_EDGE_OFF OFF edge SSC_MARK_EDGE_ON ON edge position out Pointer to 4 byte structure 4 bytes x 1 which stores the mark detection positioning data Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastEr
5. 5 7 pae uiae etai duis tu Par 5 8 5 6 5 ea eS Mo eM 5 9 5 7 ALH_DATA structure n aade aaia a 5 10 5 8 TRANSIENT CMD Structure ea 5 12 5 9 TRANSIENT 5 5 6 5 13 5 10 INT CB DATA structure 5 14 od System comimarid 2412 er tie ie Re ER Ee 6 1 6 2 System Status bits E 6 5 6 3 Axis command 6 9 6 4 Axis status Dit 6 13 0 5 Station command DIE ceo eot etium eed s HR P e i A 6 17 6 6 Station eed 2 e teen ei RR E E E ERR RR DR ERR 6 19 7 INTERRUPT EVENT FACTOR LIST 7 1to 7 4 8 LIST OF DETAILED ERROR CODES 8 1 to 8 8 About Manuals The following manuals are also related to this product In necessary order them by quoting the details in the tables below Related Manuals 1 Position Board Name Manual Number Model Code MR MC210 MR MC211 MR MC240 MR MC241 Position Board User s Manual Details This manual explains specifications of the position board information on how to establish a system IB 0300223 maintenance inspection trouble shooting
6. SSC FUNC ERR DVI TABLE RANGE OVER The word num word cnt designated by the argument exceeds the size of the input device table Point None Supported version API Ver Header file Ver 1 80 mo2xxstd h Reference sscGetlnputDeviceBit 4 172 4 FUNCTION DETAILS E ENY 4 23 3 sscSetOutputDeviceBit Sets the designated output bit device in 1 point basis int sscSetOutputDeviceBit int board_id int channel int bit_num int dev_out Argument board_id in Board ID number 0 to 3 channel in Channel number 1 bit_num in Output bit device number 0000h to OFFFh dev_out in 0 to 1 Setting data SSC_BIT_OFF Output signal OFF SSC_BIT_ON Output signal ON Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location Point This function sets the output bit device with the exclusive control function of the position board However the exclusive control function cannot be used in interface mode because the other axes start function cannot be used Supported version API Ver Header file Ver 1 80 mc2xxstd h Reference sscSetOutputDeviceWord sscGetOutputDeviceBit 4 173 4 FUNCTIO
7. eee ee Se es ee a CLS ee ee ee ee a ano pte e ee SS eS Se dass sonen as een i d Sends the Example monitoring data short monnum_get 4 mondat 4 sts sscGetMonitor bid ch ax amp monnum get 0 amp mondat 0 SPCK Monitoring data can be PIOCOSS E j he SU a yee gag Pate a obtained as many times as en necessary during the period Example sts sscStopMonitor bid ch ax if sts SSC_OK Mid dr C t 4 FUNCTION DETAILS c An example of general monitor processing procedure for obtaining operation information double word is below Host controller Position board EI EU Se ee N sg ee eee ee Se eee ae cil I Example Starts the monitoring short monnum set 4 0x1300 0x0000 0x1302 0x0000 sts sscSetMonitor bid ch amp monnum 56 0 if sts SSC_OK error process Sends the Example 9 end gt short monnum get 4 mondat 4 monitoring data sts sscGetMonitor bid ch ax amp monnum get 0 amp mondat 0 if sts SSC_OK 4 error process 1 Nar A EE tg A
8. sts SSC OK error process Example Shuts down the driver gt sts sscintEnd bid sts SSC OK 4 error process 4 144 4 FUNCTION DETAILS Note 1 Only when changing the current set interrupt condition parameters Pr 204 or 205 call the function 2 Always enable interrupt output after starting up an interrupt driver When hardware interrupt is outputted while the interrupt driver is not operating properly the host controller may hang up because the hardware interrupt cannot be canceled 3 After starting interrupt an interrupt event wait can be executed with the interrupt event wait functions 4 Always shut down the interrupt driver after disabling the interrupt output For the same reason of the note 2 above 4 145 4 FUNCTION DETAILS 4 22 1 ssclntStart The interrupt driver will be started up This function is used when performing interrupt monitoring by using the functions related to interrupt event wait int sscintStart int board_id int priority Argument board_id in Board ID number 0 to 3 priority in Priority number Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set ra
9. SSC FUNC ERR TIMEOUT 01 During the confirmation of response after executing the command to the position board the timeout time 1 second has elapsed Point To confirm the other axes start status call the sscGetOtherAxisStartStatus function Supported version Ver Header file Ver 1 00 medxxstd h Reference sscOtherAxisStartAbortOn sscGetOtherAxisStartStatus 4 FUNCTION DETAILS E ENY 4 15 5 sscGetOtherAxisStartStatus The other axes start status other axes start status bit will be got int sscGetOtherAxisStartStatus int board_id int channel int oas_num short status Argument board_id in Board ID number 0 to 3 channel in Channel number 1 oas_num in Other axes start table number 1 to 32 status out Pointer to 2 byte variable 2 bytes x 1 which stores the other axes start status bit The got data is set in the logical sum of each value SSC_BIT_OSOP Other axes start notice SSC_BIT_OSFIN Other axes start complete SSC_BIT_OSERR Other axes start incomplete Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point None Supported version Ver Header file Ver 1 0
10. 4 FUNCTION DETAILS 4 4 1 sscResetAllParameter All parameters will be set to the initial values before system startup system preparation completion int sscResetAllParameter int board_id int channel int timeout Argument board_id in Board ID number 0 to 3 channel in Channel number 1 timeout in Timeout time ms 0 to 65535 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Cause countermeasure 1 to 9 Argument location the system with the sscReboot function A system error E h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause During the confirmation of response after executing the command to the 1 to 2 Timeout location position board the designated timeout time has elapsed Point When a value 2 seconds 2000ms or less is designated as the timeout time the timeout will be 2 seconds 2000ms Supported version API Ver Header file 1 00 me2xxstd h Reference None 4 13 4 FUNCTION DETAILS 4 4 2 sscChangeParameter Each of the parameters will be written int sscChangeParameter int board_id int channel int axnum short prmnum short prmdata Argument board_id in Board
11. 4 FUNCTION DETAILS Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR NOW ALARM SYSTEM A system error E OL h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC FUNC ERR TIMEOUT 0 During the confirmation of response after executing the command to the 1 to 2 Timeout location position board the timeout time 1 second has elapsed SSC FUNC ERR 5 5 A parameter write number error occurred 1 to 2 Array number of the parameter write numbers A value outside the range is set in the parameter write number for 2 numbers The axis number and the parameter write number do not correspond Example When System parameter is set to the axis number and Axis parameter is set to the parameter write number etc SSC ERR STS A value outside the range is set in the parameter write data 7 1 to 2 Array number of the parameter write data for 2 data SC FUNC ERR MISMATCH PARAM WRITE The command and the status of the parameter write number do not 1 to 2 Array number of the parameter write numbers correspond for 2 numbers SC FUNC ERR MISMATCH PARAM WRITE DATALI The command and the status of the parameter write data do not 1 to 2 Array number of t
12. FUNCTION DETAILS Supported version API Ver Header file 1 80 me2xxstd h Reference sscSetCommandBitSignalEx sscGetStatusBitSignalEx 4 FUNCTION DETAILS 4 7 Point table functions 4 7 1 sscSetPointDataEx The point data stored in the structure variable designated by the pointer will be set int sscSetPointDataEx int board_id int channel int axnum int pnt_num PNT_DATA_EX pPntDataEx Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 pnt_num in Point number 0 to 319 pPntDataEx in Pointer to 32 byte structure 32 bytes x 1 which stores the point data Refer to 5 1 structure for the point data structure Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location SSC_FUNC_ERR_POINT_NUMBER_OVER Designated point number point number offset value exceeded the point table range Point Acheck of the set point data contents will not be performed Supported version API Ver Header file 1 00 me2xxstd h Reference sscSetPointOffset 4 FUNCTION DETAILS 4 7 2 sscCheckPointDataEx The poin
13. Point None Supported version Ver Header file Ver 1 00 medxxstd h Reference ssclintStart 4 147 4 FUNCTION DETAILS 4 22 3 ssclntEnable The interrupt output valid signal ITS will be turned on and interrupt output will be enabled int ssclntEnable int board id int channel Argument board id in Board ID number 0 to 3 channel in Channel number 1 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 17 1 to 9 Argument location SSC FUNC ERR RESET EVENT An error occurred in the ResetEvent function Win32API Call the GetLastError function of Win32API and confirm the error details Point None Supported version API Ver Header file 1 00 me2xxstd h Reference sscintDisable sscIntStart 4 148 4 FUNCTION DETAILS 4 22 4 ssclntDisable The interrupt output valid signal ITS will be turned off and interrupt output will be disabled int ssclntDisable int board id int channel Argument board id in Board ID number 0 to 3 channel in Channel number 1 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function
14. Completes the reboot sts sscReboot bid ch 0 if sts SSC OK ren ee ET Processes the all parameters initialization Example Completes the all sts sscResetAllParameter bid ch 0 arameters initialization if sts SSC OK Processes each Sets each parameter as necessary parameter setting le SS eee Example ge sts sscChangeParameter bid ch 0 prm num prm dat Ing if sts SSC_OK i error process Processes the lt Starts up the system system startup 1 i Example sts sscSystemStart bid ch 0 if sts SSC OK 4 error process PETER Disables the memory access Closes the memory access port Example 55 sscClose bid if sts SSC OK error process 4 FUNCTION DETAILS 4 5 1 sscReboot The system will be rebooted system running system preparation completion The function will wait internally until the system preparation completion int sscReboot int board id int channel int timeout Argument board id in Board ID number 0 to 3 channel in Channel number 1 timeout in Timeout time ms 0 to 65535 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN B
15. FUNCTION DETAILS 4 15 2 sscGetOtherAxisStartData The other axes start table data will be got int sscGetOtherAxisStartData int board_id int channel int oas_num OAS DATA pOasData Argument board id in Board ID number 0 to 3 channel in Channel number 1 oas num in Other axes start table number 1 to 32 pOasData out Pointer to 104 byte structure 104 bytes x 1 which stores the other axes start data Refer to 5 2 OAS DATA structure for the other axes start data structure Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 00 mc2osstd n Reference sscSetOtherAxisStartData 4 FUNCTION DETAILS 4 15 3 sscOtherAxisStartAbortOn The other axes start cancel signal OSSTPLI will be turned on and the other axes start will be canceled int sscOtherAxisStartAbortOn int board_id int channel int oas_num Argument board_id in Board ID number 0 to 3 channel in Channel number 1 oas_num in Other axes start table number 1 to 32 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed
16. MITSUBISHI ELECTRIC POSITION BOARD SSCNETII H Interface POSITION BOARD eu User s Manual SAFETY PRECAUTIONS Please read these instructions before using this equipment Before using this product please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly These precautions apply only to this product In this manual the safety instructions are ranked as DANGER and CAUTION oc ns ss Indicates that incorrect handling may cause hazardous IN D A N G R conditions resulting in death or severe injury Indicates that incorrect handling may cause hazardous A CAU T conditions resulting in medium slight personal injury or physical damage Depending on circumstances procedures indicated by CAUTION may also be linked to serious results In any case it is important to follow the directions for usage Please save this manual to make it accessible when required and always forward it to the end user For Safe Operations 1 Prevention of electric shocks NDANGER Never open the front case or terminal covers of the servo amplifier while the power is ON or the unit is running as this may lead to electric shocks Never run the unit with the front case or terminal cover of the servo amplifier re
17. complete E 7 Reserved Reserved Bit number constant Bit number constant SSC_CMDBIT_SYS_ASYN1 277 c mmana SSC_CMDBIT_SYS_57 SSC CMDBIT SYS 2 NOn synchronous command sscowoersvs se CMDBIT 5 5 58 group 2 SSC_CMDBIT_sys_asyng Non synchronous command s CMDBIT_SYS_59 group 3 SSC_CMDBIT_SYS_ASYN4 2 command SSC_CMDBIT_SYS_60 up h d Reserved SSC CMDBIT SYS rSrnorenods comman SSC CMDBIT SYS 61 group 5 SSC Asvwe NOn synchronous command SSC CMDBIT SYS 62 group 6 SSC CMDBIT SYS ASYN7 27 gommand SSC_CMDBIT_SYS_63 SSC_CMDBIT_SYS_ASYN8 a command SSC_CMDBIT_SYS_64 6 BIT DEFINITION LI Bit number constant SSC_CMDBIT_SYS_RBR SSC CMDBIT SYS RBS SSC CMDBIT SYS CRST SSC CMDBIT SYS 68 SSC CMDBIT SYS SMON ST Monitor command Bit number constant SSC SYS 73 SSC CMDBIT SYS 74 SSC CMDBIT SYS 75 SSC CMDBIT SYS 76 SSC SYS 77 SSC CMDBIT SYS SMONR SSC CMDBIT SYS 71 SSC SYS 72 Monitor latch command Bit number constant SSC CMDBIT SYS LOGC SSC CMDBIT SYS 97 Log command Operation cycle monitor clear Reserved Signal name Reserved Signal name Reserved SSC SYS 78 SSC CMDBIT SYS 79 SSC SYS 80 Bit number constant SSC CMDBIT SYS RCC SSC CMDBIT SYS 90 SSC CMDBIT SYS 91 SSC CMDBIT SYS CCC Disconnection command S
18. 1 to 9 Argument location Point None Supported version API Ver Header file 1 00 me2xxstd h Reference sscStartLog 4 111 4 FUNCTION DETAILS 4 18 4 sscCheckLogEventNum The number of valid log data events recorded in the log data will be got int sscCheckLogEventNum int board_id int channel int eventnum Argument board_id in Board ID number 0 to 3 channel in Channel number 1 eventnum out Pointer to 4 byte variable 4 bytes x 1 which stores the number of valid log data events Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location Point None Supported version API Ver Header file 1 00 me2xxstd h Reference sscStartLog 4 112 4 FUNCTION DETAILS EEE cc gt ge e vb F v M 4 18 5 sscReadLogData 16 events of log data will be read int sscReadLogData int board_id int channel int pagenum LOG DATA pLogData Argument board id in Board ID number 0 to 3 channel in Channel number 1 pagenum in Log data read page number 1 to 256 pL
19. Sampling setting data out of SSC STSBIT SYS SWED bounds SSC_STSBIT_SYS_155 u SSC STSBIT SYS 148 SSC STSBIT SYS 156 Reserved SSC STSBIT SYS SRFIN Sampling setting read complete SSC STSBIT SYS 157 SSC STSBIT SYS SREN Sampling setting number error SSC STSBIT SYS 158 SSC STSBIT SYS 151 SSC STSBIT SYS 159 Reserved x E SSC 5 5 SYS 152 SSC STSBIT SYS 160 Bit number constant SSC STSBIT SYS 161 SSC STSBIT SYS 169 SSC STSBIT SYS 162 SSC STSBIT SYS 163 SSC STSBIT SYS 164 SSC STSBIT SYS 165 SSC_STSBIT_SYS 166 SSC STSBIT SYS 167 SSC STSBIT SYS 168 Bit number constant Bit number constant Flash ROM transfer preparation SSC STSBIT SYS FROK coniplats SSC STSBIT SYS ALHRF Alarm history read complete Flash ROM transfer preparation SSC STSBIT SYS FRNG un SSC STSBIT SYS ALHRE Alarm history read error Alarm history initialization SSC STSBIT SYS FSOK Flash ROM transfer complete SSC STSBIT SYS ALHIF coriplets SSC STSBIT SYS FSNG Flash ROM transfer error SSC STSBIT SYS ALHIE Alarm history initialization error Flash ROM initialization SSC STSBIT SYS FIROK SSC STSBIT SYS 189 preparation complete u Flash ROM initialization SSC_STSBIT_SYS_FIRNG SSC STSBIT SYS 190 i i preparation error B Reserved SSC_STSBIT_SYS_FIOK SSC_STSBIT_SYS_191 Flash ROM initialization complete SSC_STSBIT_SYS_FING Flash ROM initialization error SSC_STSBIT_SYS_192 6 BIT DEFINITION LIST
20. int board_id int channel int dout_num int dout Argument board_id in Board ID number 0 to 3 channel in Channel number 1 dout_num in Digital output number 0 to 1023 dout out Pointer to 4 byte variable 4 bytes x 1 which stores the DO data status of the digital output SSC_BIT_OFF Output signal OFF SSC_BIT_ON Output signal ON Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 0 The argument is outside the set range 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 02 me2xxstd h Reference sscSetDigitalOutputDataBit sscGetDigitalOutputDataWord 4 122 4 FUNCTION DETAILS 4 19 6 sscGetDigitalOutputDataW ord The DO data of the designated digital output will be got in 16 point basis int sscGetDigitalOutputDataWord int board_id int channel int dout_word_num unsigned short dout Argument board_id in Board ID number 0 to 3 channel in Channel number 1 dout_word_num in Digital output word number 0 to 63 dout out Pointer to 2 byte variable 2 bytes x 1 which stores the DO data status of the digital output 0 Output OFF 1 Output ON for each bit bito gt DO 0100 bit15
21. Mark detection disable command 1 Mark detection setting enable command 1 SSC CMDBIT AX 93 Mark detection clear command SSC CMDBIT AX MKC2 2 Mark detection disable SSC CMDBIT AX MKD2 ani command 2 Mark detection setting enable SSC CMDBIT AX MKSEN2 IE command 2 Bit number constant SSC CMDBIT AX ZSC Home position set command SSC CMDBIT AX 86 SSC CMDBIT AX 87 Reserved SSC CMDBIT AX 88 Bit number constant Signal name SSC CMDBIT AX 97 SSC CMDBIT AX 98 SSC CMDBIT AX 99 SSC CMDBIT AX 100 Reserved SSC CMDBIT AX CTLMC Control mode switch command SSC CMDBIT AX 102 SSC CMDBIT AX 103 SSC CMDBIT AX 104 Reserved Bit number constant Signal name SSC AX 113 SSC CMDBIT AX 114 SSC CMDBIT AX 115 SSC CMDBIT AX 116 SSC CMDBIT AX 117 SSC AX 118 SSC AX 119 SSC CMDBIT AX 120 Reserved Reserved Signal name Reserved 6 BIT DEFINITION LIST Bit number constant Signal name SSC_CMDBIT_AX_MON Monitor command SSC_CMDBIT_AX_MONR Monitor latch command SSC CMDBIT AX 131 SSC CMDBIT AX 132 SSC CMDBIT AX 133 SSC CMDBIT AX 134 SSC CMDBIT AX 135 SSC CMDBIT AX 136 SSC CMDBIT AX 145 SSC CMDBIT AX 146 SSC CMDBIT AX 147 SSC CMDBIT AX 148 SSC CMDBIT AX 149 SSC CMDBIT AX 150 SSC CMDBIT AX 151 SSC CMDBIT AX 152 Bit number constant Signal name SSC CMDBIT AX PWRT Parameter write command SSC CNDBIT AX 162 SSC AX 163 SSC
22. Parameter Reads the parameter set value 444 Functions sscReboot 451 452 45 455 Command Status sscGetStatusBitSignalEx Arbitrarily gets the status bit Functions sscWaitStatusBitSignalEx Waits until the specified bit turns on off 4 6 3 sscSetPointDataEx Sets the point data 4 7 1 sscCheckPointDataEx Gets the point data Functions sscCheckPointOffset Gets the point number offset 4 7 4 sscGetDrivingPointNumber Gets the operation point number 4 7 5 sscSetLatestPointNumber Sets the latest command point number 4 7 6 Continuous sscSetPressData Sets the continuous operation to torque control data 4 8 1 Operation to Torque Control Data Functions SScGetPressData Gets the continuous operation to torque control data Point Table sscSetPointOffset Sets the point number offset 4 7 3 3 LIST OF API FUNCTIONS Reference Function Type Function Name Function Content Section sscJogStart Starts JOG operation sscJogStop Stops JOG operation sscJogStopNoWait Stops JOG operation No wait function ssclncStart Starts incremental feed 4 9 4 sscHomeReturnStart Starts home position return 4 9 6 Operating Functions sscGetDriveMode Gets the operation mode status 4 9 14 Changes speed of JOG operation or incremental feed Changes acceleration time constant of JOG operation or incremental feed Change sscChangeManualAccTime 4 10 6 Functions Changes acceleration time constant of automa
23. Request data Point None Supported version Ver Header file Ver 1 80 me2xxstd h Reference sscSendReceiveTransientData 5 STRUCTURE LIST 5 9 TRANSIENT_STS structure This transient transmit status data structure is used for sending and receiving transient transmit data typedef struct 0000h unsigned short status unsigned short 1 unsigned short ans data 4 unsigned short reserve2 2 0010h TRANSIENT STS Member status Transient status Obtained data is set with the logical sum of each value SSC TRANSIENT STS WAITING Waiting for transient command processing completion SSC TRANSIENT STS START Transient request start SSC TRANSIENT STS VALID DATA SSC TRANSIENT STS INVALID DATA ans data 4 Response data Point None Supported version Ver Header file 1 80 me2xxstd h Reference sscSendReceiveTransientData 5 13 5 STRUCTURE LIST 5 10 INT_CB_DATA structure This interrupt data structure is used for the interrupt callback function typedef struct 0000h int board_id int channel unsigned long free_run_cnt unsigned char sys_factor_bit unsigned char 1 unsigned short sys_factor 0010H unsigned long long axis_factor_bit char reserve2 8 unsigned long axis factor 48 00EOH unsigned short unit factor bit char reserve3 14 unsigned short unit factor 8 0100H unsigned long
24. Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC ERR TIMEOUT 00 During the confirmation of response after executing the command to the O 1 to 2 Timeout location position board the timeout time 1 second has elapsed SSC FUNC ERR STS BIT SREN A value outside the range is set in the sampling setting read number SSC FUNC ERR MISMATCH SMP PARAM READ NUM The command and the status of the sampling setting read number do not correspond Point None Supported version Ver Header file 1 00 medxxstd h Reference sscSetSamplingParameter 4 105 4 FUNCTION DETAILS 4 17 5 sscGetSamplingError The sampling error information will be got int sscGetSamplingError int board_id int channel SMP ERR pSmpErr Argument board id in Board ID number 0 to 3 channel in Channel number 1 pSmpErr out Pointer to 32 byte structure 32 bytes x 1 which stores the sampling error information Refer to 5 4 5 ERR structure for the sampling error information structure Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function
25. SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point The position board High speed monitor function is used to get the current feedback position Supported version Ver Header file 1 00 me2xxstd h Reference sscGetCurrentCmdPositionFast 4 FUNCTION DETAILS EEE cc gt ge e vb F v M 4 13 3 sscGetloStatusFast The external signal LSP LSN DOG signal status will be got int sscGetloStatusFast int board_id int channel int axnum short din Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 din out Pointer to 2 byte variable 2 bytes x 1 which stores the external signal status The got data is set in the logical sum of each value side limit switch signal LSP is ON Proximity dog input signal DOG is ON Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point The position board High speed monitor function is used to get the external signal status Supported
26. SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point None Supported version Ver Header file 1 00 mo2xxstd h Reference sscGetSamplingStatus 4 106 4 FUNCTION DETAILS 4 17 6 sscGetSamplingStatus The sampling status sampling status bit and sampling complete page number will be got int sscGetSamplingStatus int board_id int channel char status short fin_page Argument board_id in Board ID number 0 to 3 channel in Channel number 1 status out Pointer to 1 byte variable 1 byte x 1 which stores the sampling status bit SSC_BIT_SMPW Waiting for sampling trigger SSC_BIT_SMPO Sampling is being performed SSC_BIT_SMPF Sampling is complete SSC_BIT_SMPE Sampling error fin_page out Pointer to 2 byte variable 2 byte x 1 which stores the sampling completion page number Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point None Supported version Ver Header file 1 00 mo2xxstd h Reference sscGetS
27. SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 17 1 to 9 Argument location SSC FUNC ERR RESET EVENT An error occurred in the ResetEvent function Win32API Call the GetLastError function of Win32API and confirm the error details Point None Supported version API Ver Header file 1 00 me2xxstd h Reference sscintEnable 4 149 4 FUNCTION DETAILS 4 22 5 sscRegisterlntCallback The interrupt callback function will be registered The registered function will be called back from the interrupt driver started by the ssclntStart function when an interrupt occurs int sscRegisterIntCallback int board_id int channel void cbfunc Argument board_id in Board ID number 0 to 3 channel in Channel number 1 cbfunc in Callback function pointer Refer to 5 8 INT_CB_DATA structure for the callback structure Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location SSC_FUNC_ERR_ALREADY_REREGISTER_CALLBACK The interrupt callback function has already been registered To change the interr
28. int axnum int bitnum int waitstatus int timeout Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 4 to 32 0 System status bit 1 to 32 Axis status bit 4 to 1 Station status bit 1 Station 1 2 Station 2 3 Station 3 4 Station 4 bitnum in Status bit number Refer to Chapter 6 BIT DEFINITION LIST for the status bit number waitstatus in Bit status to be waited SSC_BIT_OFF Bit OFF SSC_BIT_ON Bit ON timeout in Timeout time ms 0 to 65535 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure O 1 to 9 Argument location position board the designated timeout time has elapsed SSC_FUNC_ERR_NOW_ALARM_SYSTEM A system error E h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC_FUNC_ERR_ARGUMENT_MISMATCH The axis number and the status bit number do not correspond Example When 0 is set to the axis number and SSC_STSBIT_AX_RDY is set to the status bit number etc Point When SSC INFINITE is designated as the timeout time timeout is not checked Instead this function infinitely waits until the status bit becomes to the designated Bit status to be waited 4
29. int axnum long bufdata short bufnum Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 bufdata in Renew data bufnum out Pointer to 2 byte variable 2 bytes x 1 which stores the latest command buffer number Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR IFM CMD BUF FULL There is no free space in the position command buffer After checking that the position board transmit buffer number has been renewed call the ssclfmRenewLatestBuffer function or ssclfmRenewLatestBufferEx function Point For API Ver 1 60 or later use the ssclfmRenewLatestBufferEx function For API Ver 1 61 or later when a NULL pointer is designated as the latest command buffer number data will not be got Supported version Ver Header file Ver 1 50 mc2xxstd h Reference ssclfmCheckLatestBuffer ssclfmGetTransmitBuffer 4 133 4 FUNCTION DETAILS 4 21 6 ssclfmRenewLatestBufferEx Latest command buffer number and data for the designated control mode will be renewed and the renewed latest command buffer number will be got int ssclfmRenewLatest
30. ssclfmSetControlMode function 4 Parameter functions error 00040000h SSC_FUNC_ERR_STS_BIT_PRENO A parameter read error occurred 1 to 2 Array number of the parameter read numbers A value outside the range is set in the parameter read for 2 numbers number The axis number and the parameter read number do 00040001h not correspond Example When System parameter is set to the axis number and Axis parameter is set to the parameter read number etc 00040002h SSC FUNC ERR MISMATCH PARAM READ The command and the status of the parameter read O 1 to 2 Array number of the parameter read numbers number do not correspond 00040003h for 2 numbers 00040020h SSC FUNC ERR STS A parameter write number error occurred 1 to 2 Array number of the parameter write numbers A value outside the range is set in the parameter write for 2 numbers number The axis number and the parameter write number do 00040021h not correspond Example When System parameter is set to the axis number and Axis parameter is set to the parameter write number etc 00040022h SSC FUNC ERR STS A value outside the range is set in the parameter write 00040023h O 1 to 2 Array number of the parameter write data for 2 data data 00040024h SSC FUNC ERR MISMATCH PARAM WRITE The command and the status of the parameter write 1 to 2 Array number of the parameter writ
31. API Ver Header file Ver 1 00 mo2xxstd h Reference sscJogStart sscJogStop sscDriveStop sscDriveStopNoWait sscDriveRapidStop sscDriveRapidStopNoWait 4 FUNCTION DETAILS 4 9 4 ssclncStart Incremental feed will be started After performing the necessary settings for operation and changing to incremental feed mode the fast start operation signal FST will be turned on int ssclincStart int board_id int channel int axnum long distance long speed short actime short dctime Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 distance in Amount of incremental feed movement command unit 2147483647 to 2147483647 speed in Manual feed speed speed unit 0 to 2147483647 actime in Manual feed speed acceleration time constant ms 0 to 20000 dctime in Manual feed speed deceleration time constant ms 0 to 20000 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 to 9 Argument location signal after the start operation is requested SSC_FUNC_ERR_NOW_DRIVING During operation SSC_FUNC_ERR_NOW_ALARM_SYSTEM A system error E OO O h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cau
32. Bit number constant SSC CMDBIT SYS 225 SSC CMDBIT SYS 226 SSC CMDBIT SYS 227 SSC CMDBIT SYS 228 Reserved SSC CMDBIT SYS 229 550 CNDBIT SYS 231 SSC CMDBIT SYS 230 SSC CMDBIT SYS 232 em SSC CMDBIT SYS 205 SSC CMDBIT SYS 206 SSC CMDBIT SYS 207 SSC CMDBIT SYS 208 Reserved Signal name Bit number constant SSC SYS 217 SSC CMDBIT SYS 218 SSC CMDBIT SYS 219 SSC CMDBIT SYS 220 Reserved SSC CMDBIT SYS 221 SSC CMDBIT SYS 222 SSC CMDBIT SYS 223 SSC CMDBIT SYS 224 SSC CMDBIT SYS 233 Bit number constant SSC CMDBIT SYS 256 6 BIT DEFINITION LIST 6 2 System status bit Bit number constant Bit number constant Outputting with factor of SSC STSBIT SYS ITO interrupt SSC_STSBIT_SYS_SMPW Waiting for sampling trigger i u During interface mode interrupt ur 550 STSBIT SYS IITO alid SSC STSBIT SYS SMPO Sampling is being performed vali SSC STSBIT SYS EVDO Event detect enabled SSC STSBIT SYS SMPF Sampling is complete SSC STSBIT SYS HRIF During highly response I F valid SSC STSBIT SYS SMPE Sampling error During system program SSC STSBIT SYS BMA SSC 5 5 SYS 13 Reserved memory access Continuous operation to torque 550 STSBIT SYS PRINF D SSC STSBIT SYS AHINF Alarm history information control compatible information SSC STSBIT SYS 07 Reserved SSC STSBIT SYS 15 eserve SSC STSBIT SYS IFMO In interface mode SS
33. Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point None Supported version API Ver Header file 1 00 me2xxstd h Reference None 4 FUNCTION DETAILS 4 3 2 sscGetBoardVersion The system version of the position board will be got int sscGetBoardVersion int board_id int channel char version Argument board_id in Board ID number 0 to 3 channel in Channel number 1 version out Pointer to 16 byte array 1 byte x 16 which stores the system version information Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point None Supported version API Ver Header file 1 00 me2xxstd h Reference sscGetDriverVersion 4 FUNCTION DETAILS 4 3 3 sscGetDriverVersion The driver version information will be got int sscGetDriverVersion int board_id int channel int axnum char version Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 version out Pointer to 16 byte array 1 byte x 16 which stores
34. Dwell ms 5 STRUCTURE LIST subcmd Auxiliary command Set data in the logical sum of each value SSC_SUBCMD_POS_ABS Absolute position command Position command system SSC_SUBCMD_POS_INC Relative position command SSC_SUBCMD_STOP_INP In position stop SSC_SUBCMD_STOP_SMZ Deceleration check system Smoothing stop SSC_SUBCMD_STOP_CONTINUE Continue operation SSC_SUBCMD_PNT_SWITCH AFTER After point switching SSC_SUBCMD_PNT_SWITCH_BEFORE specification Before point switching SSC_SUBCMD_DWELL Dwell SSC_SUBCMD_PREDWELL Predwell SSC SUBCMD PASS POS DISABLE Pass position interrupt Disable SSC SUBCMD PASS POS ENABLE _ specification Enable SSC SUBCMD PRESS DISABLE Continuous operation to Disable SSC SUBCMD PRESS ENABLE torque control specification Enable SSC SUBCMD LOOP DISABLE Disable SSC SUBCMD PNT LOOP START Loop specification Loop start point SSC SUBCMD PNT LOOP END Loop end point oas num 2 Other axes start specification 0 to 32 S curve S curve ratio 0 to 100 Point None Supported version API Ver Header file 1 80 mo2xxstd h Reference sscSetPointDataEx sscCheckPointDataEx 5 STRUCTURE LIST 5 2 OAS DATA structure This other axis start data structure is used for the other axes start typedef struct 0000h unsigned long opt_own unsigned long opt_observ long data_own long data_observ 0010h char reserve1 3 unsigned long long st_ax
35. FUNCTION DETAILS 4 21 13 ssclfmGetControlMode The control mode will be got int ssclfmGetControlMode int board_id int channel int axnum unsigned short ctrl_mode char status Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 ctrl_mode out Pointer to 2 byte variable 2 bytes x 1 which stores the control mode status out Pointer to 1 byte variable 1 byte x 1 which stores the control mode switch incorrect status Operation mode SSC_IFM_CTRL_MODE_ERR_OFF Control mode switch incorrect is OFF SSC IFM CTRL MODE ERR ON Control mode switch incorrect is ON Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point When control mode switch in incorrect set the control mode to the control mode before the switch command was made and call the ssclfmSetControlMode function Supported version API Ver Header file Ver 1 60 mc2xxstd h Reference ssclfmSetControlMode 4 141 4 FUNCTION DETAILS 4 21 14 ssclfmGetEventStatusBits Gets the status bit information of all axes for the designated status signal using the event detect fun
36. MOUT will be confirmed to be OFF int sscStopMonitor int board_id int channel int axnum Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 4 to 32 0 System monitor 1 to 32 Axis monitor 4 to 1 Station monitor 1 Station 1 2 Station 2 3 Station 3 4 Station 4 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 17 1 to 9 EE location SSC FUNC ERR ALREADY MONITOR STOP FUNC ERR ALREADY MONITOR STOP The monitor has The monitor has already stopped stopped SSC_FUNC_ERR_TIMEOUT_01 During the confirmation of response after executing the command to the position board the timeout time 1 second has elapsed Point Depending on the control status of the position board it takes a control cycle to several ms to stop monitor because of the time it takes to confirm the response of the position board Supported version API Ver Header file Ver 1 80 2 Reference sscSetMonitor 4 FUNCTION DETAILS 4 12 3 sscGetMonitor Monitor data will be got int sscGetMonitor int board_id int channel int axnum short monnum short mondata Argument board_id
37. SC_FUNC_ERR_STS_BIT_MERO A monitor number error occurred 1 1 to 4 Array number of the monitor numbers for 4 A value outside the range is set in the monitor number numbers The axis number and the monitor number do not correspond Example When System monitor is set to the axis number and Axis monitor is set to the monitor number etc SSC FUNC ERR STS BIT MESV The servo information was set as a monitor number when a servo amplifier was not connected SSC FUNC ERR TIMEOUT 00 During the confirmation of response after executing the command to the O 1 to 2 Timeout location position board the timeout time 1 second has elapsed Point When monitoring operating information double word monitor numbers 1 and 3 should be used and monitor numbers 2 and 4 should be set to 0 Set 0 for the system monitor since the monitor number 3 and 4 are not used Monitor numbers which will not be used should be set to 0 Depending on the control status of the position board it takes a control cycle to several ms to start monitor because of the time it takes to confirm the response of the position board 4 FUNCTION DETAILS Supported version API Ver Header file 1 80 me2xxstd h Reference sscStopMonitor sscGetMonitor 4 FUNCTION DETAILS 4 12 2 sscStopMonitor The monitor will be stopped The monitor command signal MON will be turned off and the monitor output signal
38. channel in Channel number 1 timeout in Timeout time ms 0 to 65535 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Cause countermeasure 1 to 9 Argument location A system error E OOO h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause 1 to 3 Timeout location position board the designated timeout time has elapsed SSC_FUNC_ERR_STS_BIT_FRNG The flash ROM transfer preparation error FRNG occurred SSC_FUNC_ERR_STS_BIT_FSNG The flash ROM transfer error FSNG occurred Point When a value 10 seconds 10000ms or less is designated as the timeout time the timeout will be 10 seconds 10000ms To change the parameter contents backed up in a flash ROM to the initial value call this function after initializing all parameters with the sscResetAllParameter function Supported version API Ver Header file Ver 1 00 medxxstd h Reference sscLoadAllParameterFromFlashROM 4 FUNCTION DETAILS 4 4 8 sscCheckSvPrmChangeNumEx The servo parameter change number will be got int sscCheckSvPrmChangeNumEx int board id int channel int axnum short prmnum Argument board id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axi
39. in Output bit device number 0000h to OFFFh dev_out out Pointer to 4 byte variable 4 bytes x 1 which stores the status of bit device SSC_BIT_OFF Output signal OFF SSC_BIT_ON Output signal ON Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location Point None Supported version API Ver Header file 1 80 mc2xxstd h Reference sscGetOutputDeviceWord sscSetOutputDeviceBit 4 175 4 FUNCTION DETAILS 4 23 6 sscGetOutputDeviceWord Gets the designated output word device in 1 word basis int sscGetOutputDeviceWord int board_id int channel int word_num int word_cnt unsigned short dev_out Argument board_id in Board ID number 0 to 3 channel in Channel number 1 word num Output word device number 0000h to OOFFh word cnt in Word points from the output word device number 0001h to 0100h dev out out Pointer to the array 2 bytes x word cnt which stores the status of output word device Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function
40. 1 to 2 Timeout location position board the timeout time 1 second has elapsed SSC FUNC ERR STS BIT PCE The position change error signal PCE turned on Point Set the axis number in ascending order of the linear interpolation target axes for the changed position data array In the linear interpolation of axis 1 and 3 set the changed position data of axis 1 to pPosition 0 and the changed position data of axis 3 to pPosition 1 pPosition 2 and pPosition 3 are not used Supported version Ver Header file 1 00 me2xxstd h Reference sscGetDrivingPointNumber sscChangeAutoSpeed sscChangeAutoAccTime sscChangAutoDecTime 4 FUNCTION DETAILS 4 10 4 sscChangeManualSpeed The speed will be changed in the JOG operation or incremental feed The change speed signal SCHG will be turned on and the completion of preparation for changing speed signal SCF or the speed change error signal SCE will be confirmed to be on int sscChangeManualSpeed int board_id int channel int axnum long speed Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 speed in Manual feed speed after change speed unit 0 to 2147483647 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed er
41. 1 to 9 Argument location signal after the start operation is requested SSC_FUNC_ERR_NOW_DRIVING During operation A system error E h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause and remove the cause function and remove the cause During the confirmation of response after executing the command to the position board the timeout time 1 second has elapsed Point The response is not confirmed after the fast start operation signal FST is turned Supported version API Ver Header file 1 00 me2xxstd h Reference sscDriveStop sscDriveStopNoWait sscDriveRapidStop sscDriveRapidStopNoWait 4 50 4 FUNCTION DETAILS 4 9 6 sscHomeReturnStart Home position return will be started After performing the necessary settings for operation and changing to home position return mode the fast start operation signal FST will be turned on int sscHomeReturnStart int board_id int channel int axnum Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure O 1 to 9 Argument location During operation startup pr
42. 17 2 55 5 5 amp 4 103 4 17 3 sscSetSamplingParameter sse eene rennen enne ens 4 104 4 17 4 sscGetSamplingParameter essere rennen nennen enne 4 105 4 17 5 sscGetoamilingEIrOr one p a nee emet e e ei i D edt 4 106 4 17 6 sscGetSamplingStatus essent nennen 4 107 4 17 7 sscGetSamplingData 2 2 dcn nde tere de eee du ee dun 4 108 419 RER teg temen 4 109 4 18 1 58 51 aeta n a t t e cubed du i sce t ie eu n e ee e ne s a 4 109 4 18 2 SSCSTODLOG 55 4 4 110 4 18 3 8scCheckLEogStatus 55 24 ede epe ud nep de ui den 4 111 4 18 4 4 112 4 18 5 55506 eec te etna due een 4 113 4 18 6 55 0 1 in aei Rei 4 114 4 18 7 4 115 4 18 8 sscCheckAlarmHistoryEventNum essen nennen nnnm 4 116 4 18 9 sscClearAlarmHistoryData caecis eise tee 4 117 4 19 Digital input output
43. 226 SSC STSBIT AX 227 SSC STSBIT AX 228 Reserved 55 5 5 229 550 5 5 231 SSC STSBIT AX 230 SSC STSBIT AX 232 Bit number constant roues SSC STSBIT AX 248 SSC 5 205 SSC STSBIT AX 206 SSC STSBIT AX 217 ug SSC STSBIT AX 233 Reserved 6 BIT DEFINITION LIST 6 5 Station command bit Bit number constant SSC CMDBIT UT RURST RIO module alarm reset SSC UT 7 SSC CMDBIT UT 8 Reserved SSC_CMDBIT_UT_23 SSC_CMDBIT_UT_24 Bit number constant SSC_CMDBIT_UT_MON SSC_CMDBIT_UT_MONR SSC_CMDBIT_UT_35 SSC_CMDBIT_UT_36 SSC_CMDBIT_UT_37 SSC_CMDBIT_UT_38 SSC_CMDBIT_UT_39 SSC_CMDBIT_UT_40 Signal name Monitor command Monitor latch command Reserved Bit number constant Signal name Bit number constant SSC CMDBIT UT RCRST RIO control alarm reset SSC_CMDBIT_UT_15 SSC_CMDBIT_UT_16 Reserved SSC_CMDBIT_UT_31 ssc UT 2 SSC_CMDBIT_UT_42 6 BIT DEFINITION LIST Bit number constant Signal name SSC CMDBIT UT 65 SSC CMDBIT UT 66 SSC CMDBIT UT 67 SSC CMDBIT UT 68 SSC CMDBIT UT 69 SSC CMDBIT UT 70 SSC UT 71 SSC UT 72 Reserved Bit number constant Signal name SSC CMDBIT UT 81 SSC CMDBIT UT 82 SSC CMDBIT UT 83 SSC CMDBIT UT 84 SSC CMDBIT UT 85 Reserved SSC CMDBIT UT 86 SSC CMDBIT UT 87 SSC CMDBIT UT 88 Bit number constan
44. 88 Bit number constant Signal name SSC STSBIT AX 97 SSC STSBIT AX 98 SSC 5 AX 99 SSC STSBIT AX CTLMCF Control mode switch complete SSC STSBIT AX CTLMCE Control mode switch error SSC 5 AX 102 SSC STSBIT AX 103 SSC STSBIT AX 104 Bit number constant Signal name SSC STSBIT AX 113 SSC STSBIT AX 114 SSC STSBIT AX 115 SSC STSBIT AX 116 SSC STSBIT AX 117 SSC STSBIT AX 118 SSC STSBIT AX 119 SSC STSBIT AX 120 Signal name During gain switching Fully closed loop control changing Selecting torque limit During PID control Reserved During continuous operation to torque control Signal name Reserved Home position set complete Home position set error Reserved Reserved Reserved Reserved Bit number constant SSC STSBIT AX IWT Interference check standby SSC STSBIT AX SINP Servo amplifier in position SSC STSBIT AX 75 SSC STSBIT AX 76 SSC STSBIT AX 77 SSC STSBIT AX 78 SSC STSBIT AX 79 SSC STSBIT AX 80 Bit number constant Mark detection compatible Reserved SSC STSBIT AX MKIF1 information 1 SSC_STSBIT_AX_MKCF1 Mark detection clear complete 1 SSC_STSBIT_AX_MKDO1 Mark detection disabled 1 Mark detection setting enable SSC STSBIT AX MKSEF1 B mE complete 1 Mark detection compatible SSC STSBIT AX MKIF2 information 2 55 5 5 2 Mark detection clear complete 2 SSC_STSBIT_AX_MKDO2 Ma
45. AX 164 SSC AX 165 Reserved Reserved Reserved SSC CMDBIT AX 166 SSC CMDBIT AX 167 SSC CMDBIT AX PSF Servo parameter read complete Bit number constant Signal name SSC 177 SSC CMDBIT AX 178 SSC CMDBIT AX 179 SSC CMDBIT AX 180 SSC CMDBIT AX 181 SSC 182 SSC CMDBIT AX 183 SSC CMDBIT AX 184 Reserved SSC CMDBIT AX 141 SSC 142 SSC CMDBIT AX 143 SSC 144 Bit number constant SSC CMDBIT AX 153 SSC CMDBIT AX 154 SSC CMDBIT AX 155 SSC CMDBIT AX 156 T Reserved SSC CMDBIT AX 157 SSC CMDBIT AX 158 Reserved SSC AX 159 SSC CMDBIT AX 160 Bit number constant SSC CMDBIT AX PRD Parameter read command SSC CNDBIT AX 170 Reserved de 6 BIT DEFINITION LIST Bit number constant Signal name SSC CMDBIT 193 SSC CMDBIT 194 SSC CMDBIT 195 SSC CMDBIT 196 SSC 197 SSC CMDBIT 198 SSC CMDBIT AX 199 SSC CMDBIT AX 200 SSC CMDBIT AX 209 SSC AX 210 SSC CMDBIT 211 SSC CMDBIT AX 212 SSC CMDBIT AX 213 SSC CMDBIT AX 214 SSC CMDBIT AX 215 SSC AX 216 Bit number constant Signal name SSC CMDBIT AX 225 SSC CMDBIT AX 226 SSC CMDBIT AX 227 SSC CMDBIT AX 228 SSC CMDBIT AX 229 SSC CMDBIT AX 230 SSC CMDBIT AX 231 SSC CMDBIT AX 232 Bit number constant Signal name SSC AX 241 SSC CMDBI
46. Argument location SSC FUNC ERR NOW LOGGING The log operation being performed signal LOGO is ON SSC FUNC ERR TIMEOUT 00 During the confirmation of response after executing the command to the O 1 to 2 Timeout location position board the timeout time 1 second has elapsed SSC FUNC ERR STS BIT LOGIE The log data initialization error signal LOGIE is turned on Point None Supported version API Ver Header file 1 00 mo2xxstd h Reference sscReadLogData 4 114 4 FUNCTION DETAILS 4 18 7 sscGetAlarmHistoryData 4 events of alarm history data will be read int sscGetAlarmHistoryData int board_id int channel int pagenum ALH_DATA pAlhData Argument board_id in Board ID number 0 to 3 channel in Channel number 1 pagenum in Alarm history data read page number 1 to 512 pAlhData out Pointer to 256 byte structure 64 bytes x 4 which stores the alarm history data Refer to 5 7 ALH_DATA structure for the alarm history data information structure Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Cause countermeasure SSC_FUNC_ERR_UNSUPPORT_ALH Alarm history function is not supported SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location SC FUNC ERR TIMEOUT 0 During the co
47. Bit number constant Signal name SSC STSBIT SYS 193 SSC STSBIT SYS 194 SSC STSBIT SYS 195 SSC STSBIT SYS 196 SSC STSBIT SYS 197 SSC STSBIT SYS 198 SSC STSBIT SYS 199 SSC STSBIT SYS 200 Bit number constant Signal name SSC STSBIT SYS 209 SSC STSBIT SYS 210 SSC STSBIT SYS 211 SSC STSBIT SYS 212 SSC STSBIT SYS 213 SSC STSBIT SYS 214 SSC STSBIT SYS 215 Reserved Reserved SSC STSBIT SYS 205 SSC STSBIT SYS 206 Reserved Bit number constant SSC STSBIT SYS 217 SSC STSBIT SYS 218 SSC STSBIT SYS 219 SSC STSBIT SYS 220 Reserved 55 STSBIT SYS 221 SSC STSBIT SYS 222 SSC STSBIT SYS 223 SSC STSBIT SYS 216 Bit number constant Signal name SSC STSBIT SYS 225 SSC STSBIT SYS 226 SSC STSBIT SYS 227 SSC STSBIT SYS 228 SSC STSBIT SYS 229 SSC STSBIT SYS 230 SSC STSBIT SYS 231 SSC STSBIT SYS 232 Bit number constant Signal name SSC STSBIT SYS 241 SSC STSBIT SYS 242 SSC STSBIT SYS 243 SSC STSBIT SYS 244 SSC STSBIT SYS 245 SSC STSBIT SYS 246 SSC STSBIT SYS 247 SSC STSBIT SYS 248 Reserved Reserved SSC STSBIT SYS 224 Bit number constant SSC STSBIT SYS 233 6 BIT DEFINITION LIST 6 3 Axis command bit SSC_CMDBIT_AX 3 SSC CMDBIT AX 4 SSC CMDBIT AX RSTP Rapid stop SSC CMDBIT AX TL Torque limit SSC CMDBIT AX 13 SSC CMDBIT AX SRST SSC AX ORST Operation alarm reset SSC CMDBIT AX 7 SSC CMDBIT AX 15 nr Reserved
48. Detailed error code Value Cause countermeasure 1 to 9 Argument location During the confirmation of response after executing the command to the 1 to 2 Timeout location position board the timeout time 1 second has elapsed SSC_FUNC_ERR_NOW_ALARM_SYSTEM A system error E OO O h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC FUNC ERR STS PREN1 A parameter read error occurred A value outside the range is set in the parameter read number The axis number and the parameter read number do not correspond Example When System parameter is set to the axis number and Axis parameter is set to the parameter read number etc SSC FUNC ERR MISMATCH PARAM READ NUM The command and the status of the parameter read number 1 do not correspond Point This function can read the parameters either before or while the system is running It takes about 2 to 10 control cycles to read the set value of the designated parameter because of the time it takes to confirm the response of the position board When a number of multiple parameters are read from multiple axes continuously the reading time can be shortened by calling this function in each thread of system or axis 4 FUNCTION DETAILS Supported version API Ver Header file Ver 1 80 mo2xxstd h Reference sscCheck2Parameter sscChangeParameter sscChange2
49. ID number 0 to 3 channel in Channel number 1 axnum in Axis number 4 to 32 0 System parameter 1 to 32 Axis parameter 4 to 1 Station parameter 1 Station 1 2 Station 2 3 Station 3 4 Station 4 prmnum in Parameter write number prmdata in Parameter write data Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 to 9 Argument location A system error E 0 O h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause During the confirmation of response after executing the command to the O 1 to 2 Timeout location position board the timeout time 1 second has elapsed SSC FUNC ERR 5 5 1 A parameter write number error occurred A value outside the range is set in the parameter write number 1 The axis number and the parameter write number do not correspond Example When System parameter is set to the axis number and Axis parameter is set to the parameter write number etc correspond correspond 4 FUNCTION DETAILS Point This function can write the parameters either before or while the system is running It takes about 2 to 10 control cycles to write parameters because of the time it takes to confirm the respons
50. Point In order to prevent this function from waiting internally the sscJogStopNoWait function should be used Supported version API Ver Header file Ver 1 00 me2xxstd h Reference sscJogStart sscJogStopNoWait sscDriveStop sscDriveStopNoWait sscDriveRapidStop sscDriveRapidStopNoWait 4 FUNCTION DETAILS m L L M 4 9 3 sscJogStopNoWait JOG operation will be stopped The start operation signal ST is turned off and the during operation signal OP will be returned int sscJogStopNoWait int board_id int channel int axnum short stpsts Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 stpsts out Pointer to 2 byte variable 2 bytes x 1 which stores the stop complete status SSC_DRIVING During operation SSC_DRIVE_FIN Stop complete Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location SSC_FUNC_ERR_MISMATCH_DRIVE_MODE The operation mode is other than the JOG operation Point order to make use of wait inside this function the sscJogStop function should be used Supported version
51. Processing procedure An example of processing procedure for using interrupt functions is below Host controller Position board Processes the parameters eR REET CATON of Sutin TER 1 Example Completes the setting 1 short int_fact 2 Ox Ox i sts sscChange2Parameter bid ch ax amp int_fact 0 if sts SSC_OK error process lt Starts an interrupt driver Note 2 gt Y Interrupt driver Dg las agg cae alge gs a a Ni Sag cena gm ea Pind Starts up the driver Example sts ssclntStart bid priority if sts SSC OK error process Enables the Interrupt output Example sts ssclntEnable bid ch if sts SSC_OK error process Example sts sscResetIntEvent bid ch ax ev num ev fact if sts OK error process Starts the arbitrary operation ini lt Waits for interrupt event factor occurrence Note 3 gt en M er EEE SEEN 1 M 11 Outputs hardware Example if sts 55 OK error process sts sscWaitlntEvent bid ch ax ev num ev fact 0 Disables the Interrupt output Example sts ssclntDisable bid ch
52. RSTP is turned on the function will wait internally until the operating signal OP is turned off After the operating signal OP is confirmed to be OFF the rapid stop signal RSTP will be turned off int sscDriveRapidStop int board_id int channel int axnum int timeout Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 timeout in Timeout time ms 0 to 65535 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location O 1 to 2 Timeout location position board the designated timeout time has elapsed A system error E OOO h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause Point When 0 is designated as the timeout time the timeout will be 20 seconds 20000ms In order to prevent this function from waiting internally the sscDriveRapidStopNoWait function should be used Supported version Ver Header file Ver 1 00 me2xxstd h Reference sscDriveStop sscDriveStopNoWait sscDriveRapidStopNoWait 4 FUNCTION DETAILS 4 9 12 sscDriveRapidStopNoWait Operations will be stopped rapidly The start oper
53. a i aii 4 165 4 22 18 sscWaitlntPassPosition 4 5 42542 nr Rai edite di eee de In RL 4 166 4 22 19 56 5 4 167 4 22 20 58 5 ntDriveP its scents eu Rai nina 4 168 4 22 21 sscWaitlntDriveF in 4 169 4 23 device amp en sanitas 4 171 4 23 1 5scGetlnputDevieceBit nu teta etu uiuat 4 171 4 23 2 sscGetlnputDeviceWord nennen nennen nennen nnne 4 172 4 23 3 sscSetOutputDeviceBit 4 173 4 23 4 sscSetOutputDeviceWord 4 174 4 23 5 sscGetOutputDeviceBit d e tee tetendit eoe dea dene qo 4 175 4 23 6 sscGetOutputDeviceWord nnne nnne nenne tenen tentent 4 176 4 24 Transient transmit 4 177 4 24 1 sscSendReceiveTransientData noaea a 4 177 5 STRUCTURE LIST 5 1 to 5 16 51 PNT DATA EX StU Clune aiite 5 1 5 2 OAS e nm eite ite tat aite be P iret t Md 5 3 5 3 PRESS DATA structure e aie ed aio e CA tie eli e A Ya ald e oa 5 5 54 SMP ERR Structure 2
54. a noise filter or by using wire shields etc Electromagnetic obstacles may affect the electronic devices used near the position board or servo amplifier When using the CE Mark compliant equipment refer to this manual for the position boards and refer to the corresponding EMC guideline information for the servo amplifiers inverters and other equipment Use the units with the following conditions 7 Corrective actions for errors NCAUTION If an error occurs in the self diagnosis of the position board or servo amplifier confirm the check details according to the instruction manual and restore the operation If a dangerous state is predicted in case of a power failure or product failure use a servo motor with electromagnetic brakes or install a brake mechanism externally Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally Shut off with the Shut off with servo ON signal OFF emergency stop alarm electromagnetic brake signal signal EMG RA1 Electromagnetic brakes Servo motor x EMG If an error occurs remove the cause secure the safety and then resume operation after alarm release The unit may suddenly resume operation after a power failure is restored so do not go near the machine Design the machine so that personal safety can be ensured even if the machine restarts suddenly 8
55. and close communication with the position board initialize communication with the servo amplifier change parameters start operations in each operating mode and monitor When using these API functions up to 4 position boards can be used simultaneously In this manual the following abbreviations are used General name for the Position Board Utility2 MRZJW3 MCZ UTL which includes test tool for start up and examination and the library for position board Test tool Abbreviation for start up and examination tool for position board API libra General name for the library of functions for positioning control that the host controller uses to i control the position board Note SSCNET Servo System Controller NETwork Utility software 1 SUMMARY 1 Functional limitation depending on software version Available functions are limited depending on the software version of the position board API library Interrupt cali back Veri02 _ The functionis added Interrupt event notification The functionis added 64 bit operating system compatible 2 000 000 00 The supported operating system is added Alan iste tinton 08151083 Interface mode The function is added Servo parameter change number Ver 1 60 E A The function is added Speed torque control 22 Ver 1 60 A4 The function is added interface mode
56. axes start is performed in advance use this function Since the functions which start operations such as sscAutoStart switches the operation mode inside the function this function is not needed to be called Since the position board imports the operation mode when the acceptance of the start operation signal ST is completed it does not need to wait until the operation mode is switched after this function is called Supported version API Ver Header file Ver 1 00 meo2xxst h Reference sscGetDriveMode sscSetOtherAxisStartData 4 FUNCTION DETAILS EEE cc gt ge e vb F v M 4 9 14 sscGetDriveMode The operation mode will be got int sscGetDriveMode int board_id int channel int axnum int drv_mode Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 drv_mode out Pointer to 4 ye variable 4 bytes x 1 which stores the operation mode status Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point When the operation mode of axis for which the other axes start is perfor
57. axnum in Axis number 1 to 32 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure The argument is outside the set range O 1 to 9 Argument location During operation startup preparation until the position board receives the signal after the start operation is requested SSC FUNC ERR NOW DRIVING During operation A servo alarm is occurring Get the alarm No with the sscGetAlarm function and remove the cause An operation alarm is occurring Get the alarm No with the sscGetAlarm function and remove the cause A system error E h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause During the confirmation of response after executing the command to the position board the timeout time 1 second has elapsed Point The response is not confirmed after the fast start operation signal FST is turned on Supported version Ver Header file Ver 1 00 me2xxstd h Reference sscDriveStop sscDriveStopNoWait sscDriveRapidStop sscDriveRapidStopNoWait 4 FUNCTION DETAILS 4 9 9 sscDriveStop The operations will be stopped After the start operation signal ST is turned off and the stop operation signal STP turned on the function will wait internally until the duri
58. board_id int channel int axnum int bitnum int bitstatus Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 4 to 32 0 System status bit 1 to 32 Axis status bit 4 to 1 Station status bit 1 Station 1 2 Station 2 3 Station 3 4 Station 4 bitnum in Status bit number Refer to Chapter 6 BIT DEFINITION LIST for the status bit number bitstatus out Pointer to 4 byte variable 4 bytes x 1 which stores the status bit data SSC_BIT_OFF Bit OFF SSC_BIT_ON Bit ON Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location SSC_FUNC_ERR_ARGUMENT_MISMATCH The axis number and the status bit number do not correspond Example When 0 is set to the axis number and SSC_STSBIT_AX_RDY is set to the status bit number etc Point None Supported version API Ver Header file Ver 1 80 medxxstd h Reference sscSetCommandBitSignalEx sscWaitStatusBitSignalEx 4 FUNCTION DETAILS 4 6 3 sscWaitStatusBitSignalEx This function waits until the designated status bit becomes to the designated state int sscWaitStatusBitSignalEx int board_id int channel
59. cause SSC_FUNC_ERR_STS_BIT_PRENO A parameter read error occurred 1 to 2 Array number of the parameter read numbers A value outside the range is set in the parameter read number for 2 numbers The axis number and the parameter read number do not correspond Example When System parameter is set to the axis number and Axis parameter is set to the parameter read number etc SSC_FUNC_ERR_MISMATCH_PARAM_READ_NUMI The command and the status of the parameter read number do not O 1 to 2 Array number of the parameter read numbers correspond for 2 numbers 4 FUNCTION DETAILS Point This function can read the parameters either before or while the system is running read only 1 parameter set 0 in the other parameters It takes about 2 to 10 control cycles to read two set values for the designated parameters because of the time it takes to confirm the response of the position board When a number of multiple parameters are read from multiple axes continuously the writing time can be shortened by calling this function in each thread of system or axis Supported version Ver Header file Ver 1 80 mc2xsstd h Reference sscChangeParameter sscChange2Parameter sscCheckParameter 4 FUNCTION DETAILS 4 4 6 sscLoadAllParameterFromFlashROM All parameters before the system startup system preparation completion will be read from the flash ROM int sscLo
60. ccccccccsscccessseeceessseecesseeececsaeeecessaeeesesaeeecsesaeeecesseeecesssesessaeeesesaeeesessaeees 4 128 4 21 1 ssclfmGetReadErrorCount 4 128 4 21 2 ssclfmSetHomeP sition una Ri DREI 4 129 4 21 3 ssclfmGetMaximumBufferNumber 4 131 4 21 4 ssclfmGetMaximumBufferNumberEx esses eene nnnnn sesenta sesenta esr sen 4 132 4 21 5 4 133 4 21 6 ssclfmRenewLatestBufferEX cccccccccssccccssssececssseeesessseeescseeeecesaeeceesseeeecesseeecessaeeeeesaeeesessaeees 4 134 4 21 7 sscifmCheckLatestBuffer e Re 4 135 4 21 8 4 136 4 21 9 ssclfmGetTransmitBuffer 4 137 4 21 10 55 4 138 4 21 11 ssclfmTrqSetSpeedLimit 2 ettet teet aede ana anal 4 139 4 21 12 SSCIIMSetCONtPOIMOME ceccccccsssecccessseeccssseececesaeececssseeesessseeesesaeeescssseeeseaseeeessaeeesesaeeesessaeees 4 140 4 21 13 ssclfmGetControlMode ccccccccsssseecesssececesseeceeesseeeccaeeeecesaeeeeesseesesesaeeececaeeesessaeeeesaee
61. detection counter will be got int sscGetMarkDetectionCounter int board_id int channel int axnum int mark_num int detected_counter Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 in Mark detection setting number 1 to 2 detected_counter out Pointer to 4 byte variable 4 bytes x 1 which stores the mark detection counter 1 to 255 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point None Supported version Ver Header file Ver 1 60 mc2xxstd h Reference sscGetMarkDetectionData 4 126 4 FUNCTION DETAILS 4 20 3 sscClearMarkDetectionData Mark detection data will be cleared initialized int sscClearMarkDetectionData int board_id int channel int axnum int mark_num Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 mark_num in Mark detection setting number 1 to 2 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before
62. e SaaS tr zz zs m 4 9 13 sscSetDriveMode The operation mode will be switched This function is used for setting the operation mode of the axis for which the other axes start is performed by the other axes start function int sscSetDriveMode int board_id int channel int axnum int drv_mode Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 drv_mode in Operation mode 1 to 32 Operation mode Description SSC_DRV_MODE_DST Home position reset mode Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR NOW ALARM SYSTEM A system error E 000 h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC FUNC ERR NOW DRIVING During operation SSC FUNC ERR NOW ALARM SERVO A servo alarm is occurring Get the alarm No with the sscGetAlarm function and remove the cause SSC FUNC ERR NOW ALARM DRIVE An operation alarm is occurring Get the alarm No with the sscGetAlarm function and remove the cause 4 FUNCTION DETAILS Point switch the operation mode of an axis for which the other
63. functions for the positioning control of the position board 1XB968 programming dual port memory and others MR MC210 MR MC211 MR MC240 MR MC241 Position Board User s Manual API Library This manual explains the library of functions and others that the host controller uses to control the position board 0300225 1 970 2 Servo amplifier Model Code SSCNETII H interface AC Servo MR J4_B RJ MR J4_B4 RJ MR J4_B1 RJ Servo amplifier Instruction Manual SH 030106 This manual explains the I O signals parts names parameters start up procedure and others for AC Servo 1CW805 MR J4_B RJ MR J4_B4 RJ MR J4_B1 RJ Servo amplifier interface Multi axis AC Servo MR JAW2 B MR JAW3 B Servo amplifier Instruction Manual SH 030105 This manual explains the 1 signals parts names parameters start up procedure and others for Multi axis 1CW806 AC Servo MR JAW2 B MR J4W3 B Servo amplifier SSCNETII interface 3 1 Servo amplifier Instruction Manual This manual explains the I O signals parts names parameters start up procedure and others for 1 MR J3 L B Servo amplifier SSCNETII Compatible Linear Servo MR J3 L1B RJOOAULI Instruction Manual This manual explains the 1 signals parts names parameters start up procedure and others for Linear a Servo MR J3 OB RJ004U0 Servo amplifier SSCNETI Compatible Fully Closed Loop Control MR
64. in Axis number 4 to 32 0 System alarm 1 to 32 Axis alarm 4 to 1 Station alarm 1 Station 1 2 Station 2 3 Station 3 4 Station 4 alarm type in Alarm type code out Pointer to 2 byte variable 2 bytes x 1 which stores the alarm number variable detail code out Pointer to 2 byte variable 2 bytes x 1 which stores the specific alarm number variable Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR ARGUMENT MISMATCH The axis number and the alarm type do not correspond Example When O is set to the axis number and SSC ALARM OPERATION is set to the alarm type etc Point If an alarm has not occurred 0 will be got as the alarm number and the specific alarm number 4 FUNCTION DETAILS Supported version API Ver Header file Ver 1 80 me2xxstd h Reference sscResetAlarm 4 FUNCTION DETAILS 4 11 2 sscResetAlarm The alarm will be reset After the alarm reset signal is turned on and the alarm signal is confirmed to be OFF the alarm reset signal will be turned off int sscResetAlarm int board_id int channel int axnum int alarm_type Argument board_id
65. in the SetThreadPriority function Win32API Call the GetLastError function of Win32API and confirm the error details 00022023h SSC FUNC ERR RESUME THREAD An error occurred in the ResumeThread function Win32API Call the GetLastError function of Win32API and confirm the error details 00022024h SSC FUNC ERR GET EXIT CODE THREAD An error occurred in the GetExitCodeThread function Win32API Call the GetLastError function of Win32API and confirm the error details 000230010h SSC FUNC ERR DEVICE DRIVER An error occurred with a call of the device driver Confirm that the device driver is installed 8 LIST OF DETAILED ERROR CODES 3 System functions error 00030000h SSC_FUNC_ERR_UNREADY_CHANNEL The system is in the status other than system preparation completion Reboot the system with the sscReboot function 00030020h SSC_FUNC_ERR_RUNNING_CHANNEL The system is in the status of before system startup Start the system with the sscSystemStart function 00030030h SSC_FUNC_ERR_NOW_ALARM_SYSTEM A system error ELTLILIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause 00030040h SSC_FUNC_ERR_FLASHROM_PARAM_LOAD The flash ROM parameter read error occurred 00030041h SSC_FUNC_ERR_STS_BIT_FRNG The flash ROM transfer preparation error FRNG occurred 00030062h SSC_FUNC_ERR_STS_BIT_IFMO Position board is in interface mode When changing control mode in interface mode use the
66. int sscGetPositionDroopFast int board_id int channel int axnum long position_dp Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 position_dp out Pointer to 4 byte variable 4 bytes x 1 which stores the position droop Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location Point The position board High speed monitor function is used to get the position droop This function is supported in interface mode only Supported version API Ver Header file Ver 1 60 mc2ost h Reference None 4 FUNCTION DETAILS 4 14 User watchdog functions 4 14 1 sscWdEnable The user watchdog function will be enabled int sscWdEnable int board_id int channel unsigned short wdcnt Argument board_id in Board ID number 0 to 3 channel in Channel number 1 in Watchdog timer start counter Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure
67. no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider However we will charge the actual cost of dispatching our engineer for an on site repair work on request by customer in Japan or overseas countries We are not responsible for any on site readjustment and or trial run that may be required after a defective unit are repaired or replaced Gratis Warranty Term The term of warranty for Product is thirty six 36 months after your purchase or delivery of the Product to a place designated by you or forty two 42 months from the date of manufacture whichever comes first Warranty Period Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work Gratis Warranty Range 1 You are requested to conduct an initial failure diagnosis by yourself as a general rule It can also be carried out by us or our service company upon your request and the actual cost will be charged However it will not be charged if we are responsible for the cause of the failure 2 This limited warranty applies only when the condition method environment etc of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product 3 Even during the term of warranty the repair cost will be charged on you in the follow
68. oas_factor_bit char reserve4 12 unsigned char oas_factor 32 0130H unsigned long long pass_factor_bit char 5 8 unsigned char pass_factor 64 0180H char reserve6 0x180 0300h Member board_id Board ID number channel Channel number free_run_cnt Free run counter sys_factor_bit Bit for factor of system interrupt being sent sys_factor Factor of system interrupt axis_factor_bit Bit for factor of axes interrupt being sent axis_factor 48 Factor of axes interrupt 5 STRUCTURE LIST 3 5 ev unit_factor_bit Bit for factor of stations interrupt being sent unit_factor 8 Factor of stations interrupt oas_factor_bit Factor of other axes start interrupt oas_factor 32 Details for factor of other axes start interrupt pass_factor_bit Factor of pass position interrupt pass_factor 64 Details for factor of pass position interrupt Point For API version 1 61 or later if interface mode event detect is enabled and system is started the following information is stored in bit for factor of axes interrupt being sent and factor of axes interrupt These values are updated every time an event occurs Factor of axes interrupt being sent Turns ON when and event occurs at the corresponding axis Factor of axes interrupt Event detect information is stored Refer to M
69. only Addition of position droop to high speed monitor 1 60 4 The function is added interface mode only Mark detection function compatible Ver 1 60 E The function is added Continuous operation to torque control compatible Ver 1 60 The function is added or S operation in standard mode only Windows 8 Windows 8 compatible Ver 1 60 The supported operating system is added Point table loop method compatible Ver 1 80 The function is added Remote I O module compatible Ver 1 80 Extension of axis numbers device compatible Ver 1 80 The function is added Transient transmit compatible Ver 1 80 The function is added 2 CONDITIONS FOR USE 2 CONDITIONS FOR USE The following conditions when using these API functions apply 1 These API functions are assumed to be used with a compiler that runs on the following operating systems lt Operating system gt Windows 8 1 32 bit 64 bit Windows 8 32 bit 64 bit Windows 7 32 bit 64 bit Service Pack1 Windows Vista 32 bit Service Pack2 Windows 32 bit Service Pack3 lt Compiler gt Microsoft Visual C 2013 2012 2010 2008 2005 Microsoft Visual 2013 2012 2010 2008 2005 Microsoft Visual Basic 2013 2012 2010 2008 2005 Embarcadero C Builder 2010 2009 2007 2 These API functions use WinDriver produced by Jungo Software Technologies in order to access the bus 3 These API f
70. operate on an external system to Position Board when any failure or malfunction occurs 2 Our Position Board is designed and manufactured as a general purpose product for use at general industries Therefore applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies and also which require a special quality assurance system including applications for railway companies and government or public offices are not recommended and we assume no responsibility for any failure caused by these applications when used In addition applications which may be substantially influential to human lives or properties for such as airlines medical treatments railway service incineration and fuel systems man operated material handling equipment entertainment machines safety machines etc are not recommended and we assume no responsibility for any failure caused by these applications when used We will review the acceptability of the abovementioned applications if you agree not to require a specific quality for a specific application Please contact us for consultation Microsoft Windows and Windows Vista are registered trademarks of Microsoft Corporation in the United States and other countries PCI express is a registered trademark of PCI SIG WinDriver is the trademark of Jungo Software Technologies in Israel C Builder is a trademark or registered trademark of Embarc
71. property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2013 MITSUBISHI ELECTRIC CORPORATION A 11 INTRODUCTION Thank you for choosing the Mitsubishi position board MR MC210 MR MC211 MR MC240 MR MC241 Before using the equipment please read this manual carefully to develop full familiarity with the functions and performance of the position board you have purchased so as to ensure correct use CONTENTS Safety 5 oit itte ate 1 5 65 5525 ote nel 11 GOltenis dst o kc TL DATA LR DA ATA E ee IK TES T 12 re re nen ee 17 3 LIST OF API FUNCTIONS 3 1 to 3 4 4 FUNCTION DETAILS 4 1 to 4 178 Support functions nennen oed i 4 1 4 1 1 586 i pte arabes 4 1 4 3 2 sScGetMo ntChanniel 2 unie eem 4 2 4 2 Device fuhcti ris x toe ara Bien tent een cen ens hee ei on a ee te eeu 4 3 4 2 1 55 E 4 5 2 2 585 1056 iR deste e re desi are 4 6 4 3 Information functions uus0222ssunssnnsnnnnnnnennnnnnnnnnnnnnnnnnnnnennnnnnnennnnnnnnnnnnnne
72. ssclntStart function SSC FUNC ERR SET EVENT An error occurred in the SetEvent function Win32API Call the GetLastError function of Win32API and confirm the error details Point When the interrupt standby status is released by calling this function an error occurs the sscWaitIntEvent function Supported version Ver Header file Ver 1 80 mo2xxstd h Reference sscWaitlntEvent 4 153 4 FUNCTION DETAILS 4 22 9 sscWaitlntEvent This function waits until the interrupt event status becomes signaled This function is used to wait for the interrupt from the position board for the designated event factor It is possible to wait for 2 interrupt events to occur from the same cause by changing the event wait number int sscWaitlntEvent int board id int channel int axnum int eventnum int eventfactor int timeout Argument board id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 4 to 32 0 System interrupt event 1 to 32 Axis interrupt event 4 to 1 Station interrupt event 1 Station 1 2 Station 2 3 Station 3 4 Station 4 eventnum in Event wait number 0 to 1 eventfactor in Event factor Refer to Chapter 7 INTERRUPT EVENT FACTOR LIST for the event factors timeout in Timeout time ms 0 to 65535 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError functio
73. started Logging will be started by turning the log command signal LOGC on and the log operation being performed signal LOGO will be confirmed to be on int sscStartLog int board_id int channel Argument board_id in Board ID number 0 to 3 channel in Channel number 1 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR TIMEOUT 01 During the confirmation of response after executing the command to the position board the timeout time 1 second has elapsed SSC FUNC ERR ALREADY START LOG The log command is ON Stop the logging with the sscStopLog function Point None Supported version API Ver Header file 1 00 me2xxstd h Reference sscStopLog 4 109 4 FUNCTION DETAILS 4 18 2 sscStopLog Logging will be stopped Logging will be stopped using log command signal LOGC OFF and the log operation being performed signal LOGO will be confirmed to be OFF int sscStopLog int board_id int channel Argument board_id in Board ID number 0 to 3 channel in Channel number 1 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed er
74. to electric shocks Do not touch the built in power supply built in grounding or signal wires of the position board and servo amplifier as this may lead to electric shocks 2 For fire prevention NCAUTION Install the position board servo amplifier servo motor and regenerative resistor on incombustible Installing them directly or close to combustibles will lead to fire If a fault occurs in the position board or servo amplifier shut the power OFF at the servo amplifier s power source If a large current continues to flow fire may occur When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fire Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used Failing to do so may lead to fire Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to fire 3 For injury prevention NCAUTION Do not apply a voltage other than that specified in this manual and the instruction manual of the product you are using on any terminal Doing so may lead to destruction or damage Do not mistake the terminal connections as this may lead to destruction or damage Do not mistake the polarity as this may lead t
75. 0 The argument is outside the set range 140 9 location SSC_FUNC_ERR_NOT_START_INT_DRIVER FUNC_ERR_NOT_START_INT_DRIVER The The interrupt driver is closed Call the sscintStart function driver is closed Call the ssclntStart function SSC FUNC ERR RESET EVENT An error occurred in the ResetEvent function Win32API Call the GetLastError function of Win32API and confirm the error details Point None Supported version API Ver Header file Ver 1 02 me2xxstd h Reference sscWaitIntPassPosition 4 164 4 FUNCTION DETAILS 4 22 17 sscSetlntPassPosition Pass position interrupt event status will be signaled This function is used to release the standby status with the sscWaitIntPassPosition function at the timing of the user program not the interrupt event of the position board int sscSetintPassPosition int board id int channel int pass start int pass end Argument board id in Board ID number 0 to 3 channel in Channel number 1 pass num in Pass position condition start number 1 to 64 pass num in Pass position condition end number 1 to 64 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 140 9 location SSC_FU
76. 0 me2xxstd h Reference None 4 FUNCTION DETAILS 4 16 Pass position interrupt functions 4 16 1 sscSetlntPassPositionData The pass position interrupt condition data will be set int sscSetintPassPositionData int board_id int channel int pass_num unsigned long pass_option long pass_data Argument board_id in Board ID number 0 to 3 channel in Channel number 1 pass_num in Pass position condition number 1 to 64 pass_option in Pass position option 00000000h to 0000001 1h Set data in the logical sum of each value Value Description SSC PASS DIR PLUS direction pass position interrupt output Pass direction SSC PASS DIR MINUS direction pass position interrupt output SSC PASS JUDGE CMD POS Current position Judgment condition SSC PASS JUDGE FB POS Feedback position pass data in Pass position data command unit 2147483648 to 2147483647 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point Only the judgment condition for the pass position condition start number is valid for the pass position option Supported version Ver Header file Ver 1 02 mo2xxstd h Reference
77. 0062001h SSC FUNC ERR STS BIT LOGRE The of log data error signal LOGRE is turned 00062002h SSC_FUNC_ERR_STS_BIT_LOGIE The S data initialization error signal LOGIE is turned ON 00062003h SSC FUNC ERR ALREADY START LOG The log command LOGC is ON Stop the logging with the sscStopLog function 00062004h SSC FUNC ERR ALREADY STOP LOG Logging has already been stopped 00062005h SSC FUNC ERR UNSUPPORT ALH Alarm history function is not supported 00062006h SSC FUNC ERR STS BIT ALHRE The alarm history read error signal ALHRE is turned ON 00062007h SSC FUNC ERR STS BIT ALHIE The alarm history initialization error signal ALHIE is turned ON 8 LIST OF DETAILED ERROR CODES 9 Interrupt functions error Constant definition 10000100h SSC_FUNC_ERR_ALREADY_START_INT_DRIVER The interrupt driver has already been started up 10000101h SSC_FUNC_ERR_ALREADY_END_INT_DRIVER The interrupt driver has already been closed 10000102h SSC_FUNC_ERR_ALREADY_OTHER_PROCESS_INT The interrupt driver has already been started up in other processing 10000103h SSC_FUNC_ERR_INT_DISABLE_MASK The interrupt output mask selection dip switch is valid 10000104h SSC_FUNC_ERR_CLEAR_INT The writing of the interrupt signal clear register is failed 10000110h SSC_FUNC_ERR_NOT_START_INT_DRIVER The interrupt driver is closed Call the ssclntStart function 10000111h SSC_FUNC_ERR_TERMINATE_INT_DRIVER The sscIntEnd function was called while the inter
78. 05 gt pm E md Confirms the servo on status Wait function i Example sts sscWaitStatusBitSignalEx 5 T bid ch ax SSC STSBIT AX RDY 55 ON 0 T if sts SSC OK 1 i5 Boe COE 4 Completes the servo on b Example of command status processing procedure when turning on the servo with no wait function Position board Processes the servo on u ELICIT Example H sts sscSetCommanaBitSignalEx i bid ch ax SSC SON SSC ON if sts SSC OK f error process Executing arbitrary process during the period is possible while waiting for the servo on Example int svonsts while svonsts SSC_BIT_ON sts sscGetStatusBitSignalEx T bid ch ax 550 5 RDY svonsts 55 1 SSC OK error process arbitrary process execution OE a pe lt Completes the servo on pS Se ea SC ee 4 FUNCTION DETAILS E ENY 4 6 1 sscSetCommandBitSignalEx The designated command bit will be turned on or off int sscSetCommandBitSignalEx int board_id int channel int axn
79. 1 which stores the transmit buffer number bufdata out Pointer to 4 byte variable 4 bytes x 1 which stores the transmit buffer data Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 7 1 to 9 Argument location Point When a NULL pointer is designated as the transmit buffer data only the transmit buffer number will be got For API Ver 1 60 or later use the ssclfmGetTransmitBufferEx function Supported version Ver Header file Ver 1 50 mc2xxstd h Reference ssclfmCheckLatestBuffer 4 137 4 FUNCTION DETAILS 4 21 10 ssclfmGetTransmitBufferEx Transmit buffer number and transmit buffer data for the designated control mode will be got int ssclfmGetTransmitBufferEx int board_id int channel int axnum unsigned short ctrl mode short bufnum long bufdata Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 ctrl_mode in Control mode 0 to 2 Operation mode SSC_IFM_CTRL_MODE_POSITION Position control mode SSC_IFM_CTRL_MODE_SPEED Speed control mode SSC_IFM_CTRL_MODE_TORQUE Torque control mode bufnum out Pointer to 2 byte variable 2 bytes
80. 1 6 0020h PRESS_DATA Member switch_position Continuous operation to torque control switching position position_limit Press limit position speed_limit Continuous operation to torque control speed limit value 1 to 2147483647 target_torque Target torque 0 1 0 to 32767 continue_time Press time ms torque_settle_width Torque settle width 0 1 torque_settle_time Torque settle waiting time ms actime Continuous operation to torque control acceleration time constant ms 0 to 20000 dctime Continuous operation to torque control deceleration time constant ms 0 to 20000 condition Continuous operation to torque control operating conditions Set data in the logical sum of each value Value Description SSC_PRESS_START_AUTO_CMD Automatic switch command position Start switch to continuous operation SSC_PRESS_START_AUTO_FB a Automatic switch current feedback position to torque control condition SSC PRESS START MANUAL Manual switch SSC PRESS END AUTO Automatic switch End switch to continuous operation SSC PRESS END MANUAL to torque control condition Manual switch 5 STRUCTURE LIST Point None Supported version API Ver Header file Ver 1 60 me2xxstd h Reference sscSetPressData sscGetPressData 5 STRUCTURE LIST 5 4 SMP_ERR structure This sampling error structure is used for the sampling typedef struct 0000h unsigned long long err ax char reserve1 8 unsigned l
81. 147483647 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure The argument is outside the set range 1 to 9 Argument location The operation mode is other than the Automatic operation or Linear interpolation Designated point number point number offset value exceeded the point table range SSC_FUNC_ERR_NOW_ALARM_SYSTEM A system error E h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC_FUNC_ERR_TIMEOUT_00 During the confirmation of response after executing the command to the O 1 to 2 Timeout location position board the timeout time 1 second has elapsed SSC_FUNC_ERR_STS_BIT_SCE The speed change error signal SCE turned on Point None Supported version API Ver Header file Ver 1 00 2 Reference sscGetDrivingPointNumber sscChangeAutoPosition sscChangeAutoAccTime sscChangAutoDecTime 4 FUNCTION DETAILS 4 10 6 sscChangeManualAccTime The JOG operation or incremental feed acceleration time constant will be changed The change acceleration time constant signal TACHG will be turned on and the completion of preparation for changing acceleration time constant signal TACF or the acceleration time constant chan
82. 3 channel in Channel number 1 prm_num in Sampling setting write number prm_data in Sampling setting write data Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value O 1 to 9 Argument location O 1 to 2 Timeout location the position board the timeout time 1 second has elapsed SSC FUNC ERR STS BIT SWEN A value outside the range is set in the sampling setting write number SSC FUNC ERR STS BIT SWED A value outside the range is set in the sampling setting write data SSC FUNC ERR MISMATCH SMP PARAM WRITE NUM The command and the status of the sampling setting write number do not correspond SSC FUNC ERR MISMATCH SMP PARAM WRITE DATA The command and the status of the sampling write data do not correspond Point None Supported version Ver Header file Ver 1 00 medxxstd h Reference sscGetSamplingParameter 4 104 4 FUNCTION DETAILS 4 17 4 sscGetSamplingParameter The sampling parameters will be read int sscGetSamplingParameter int board_id int channel short prm_num long prm_data Argument board_id in Board ID number 0 to 3 channel in Channel number 1 prm_num in Sampling setting read number prm data out Pointer to 4 byte variable 4 bytes x 1 which stores the sampling setting read data
83. 5 2 During smoothing of stopping SSC STSBIT AX OALM Operation alarm SSC STSBIT AX OPF Completion of operation SSC STSBIT AX PSW Position switch Bit number constant Completion of preparation for SSC_STSBIT_AX_SCF 2 EB changing speed Completion of preparation for changing acceleration time constant SSC STSBIT AX TACF Completion of preparation for changing deceleration time constant Completion of preparation for SSC STSBIT AX PCF changing position SSC_STSBIT_AX_SCE Speed change error Acceleration time constant SSC_STSBIT_AX_TACE i PONE change error SSC STSBIT AX TDCF Deceleration time constant SSC STSBIT AX TDCE n deg change error SSC STSBIT AX PCE Position change error Bit number constant SSC STSBIT AX PPIOP Pass position interrupt SSC STSBIT AX PPIFIN Pass position interrupt complete Pass position interrupt SSC STSBIT AX PPIERR gt um incomplete SSC STSBIT AX 60 SSC STSBIT AX 61 ur RSS Reserved SSC STSBIT AX 62 SSC STSBIT AX 63 SSC STSBIT AX AUTLO In point table loop 6 BIT DEFINITION LIST Bit number constant SSC_STSBIT_AX_GAINO SSC_STSBIT_AX_FCLSO SSC STSBIT AX TLSO SSC STSBIT AX SPC SSC STSBIT AX 69 SSC STSBIT AX 70 SSC STSBIT AX 71 SSC STSBIT AX PRSMO Bit number constant SSC STSBIT AX 81 SSC 5 AX 82 SSC STSBIT AX 83 SSC STSBIT AX ZSF SSC STSBIT AX ZSE SSC STSBIT AX 86 SSC STSBIT AX 87 SSC STSBIT AX
84. AS STS ERR Other axes start incomplete SSC OAS STS OP ERR Other axes start notice prior error timeout in Timeout time ms 0 to 65535 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function 4 162 4 FUNCTION DETAILS ua lt lt lt lt lt lt a Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR NOT START INT DRIVER The interrupt driver is closed Call the ssclntStart function SSC FUNC ERR WAIT EVENT An error occurred in the WaitForSingleObject function Win32API Call the GetLastError function of Win32API and confirm the error details SSC FUNC ERR TERMINATE INT DRIVER The function was called while the interrupt for the designated event factor was being confirmed for the designated event factor was being confirmed designated timeout time elapsed SSC FUNC ERR SET HOST APPLICATION EVENT While the interrupt for the designated event factor was being waited a function which releases the standby status was called from the user program Point When the other axes start complete or the other axes start incomplete occurs during other axes start notice wait this function returns from the standby status When an alarm occurs in the axis of
85. Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 stpsts out Pointer to 2 byte variable 2 bytes x 1 which stores the stop complete status SSC_DRIVING During operation SSC_DRIVE_FIN Stop complete Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR TIMEOUT 01 During the confirmation of response after executing the command to the position board the timeout time 1 second has elapsed SSC FUNC ERR NOW ALARM SYSTEM A system error E h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause Point In order to make use of wait inside this function the sscDriveStop function should be used If the stop complete status storage variable has not been confirmed to be SSC DRIVE FIN the stop operation signal STP will remain ON Supported version Ver Header file 1 00 mo2xxstd h Reference sscDriveStop sscDriveRapidStop sscDriveRapidStopNoWait 4 FUNCTION DETAILS 4 9 11 sscDriveRapidStop Operations will be stopped rapidly After the start operating signal ST is turned off and the rapid stop signal
86. BufferEx int board_id int channel int axnum unsigned short ctrl mode long bufdata short bufnum Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 ctrl_mode in Control mode 0 to 2 bufdata in Refresh data bufnum out Pointer to 2 byte variable 2 bytes x 1 which stores the latest command buffer number Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR IFM CMD BUF FULL There is no free space in the position command buffer After checking that the position board transmit buffer number has been renewed call the ssclfmRenewLatestBuffer function ssclfmRenewLatestBufferEx function Point For API Ver 1 61 or later when a NULL pointer is designated as the latest command buffer number data will not be got Supported version Ver Header file Ver 1 60 mc2xxstd h Reference ssclfmCheckLatestBufferEx ssclfmGetTransmitBufferEx 4 134 4 FUNCTION DETAILS 4 21 7 ssclfmCheckLatestBuffer Latest command buffer number and latest command buffer data for position control mode will be got int ssclfmCheckLat
87. C STSBIT SYS 16 Bit number constant Signal name During forced stop Reserved In test mode Reserved Bit number constant Bit number constant In non synchronous mode 2 550 STSBIT SYS 1 group SSC_STSBIT_SYS_SYEO1 Synchronizing group 1 In non synchronous mode 550 STSBIT SYS 2 dip 2 550 STSBIT SYS SYEO2 Synchronizing group 2 In non synchronous mode 2 SSC STSBIT SYS diui SSC STSBIT SYS SYEOS3 Synchronizing group 3 In non synchronous mode 2 SSC STSBIT SYS 4 aoo SSC STSBIT SYS 4 Synchronizing group 4 In non synchronous mode 2 SSC STSBIT SYS 5 aru 5 SSC STSBIT SYS 5 Synchronizing group 5 u In non synchronous mode 550 STSBIT SYS aroun 6 550 STSBIT SYS 5 Synchronizing group 6 In non synchronous mode 550 STSBIT SYS 7 group 7 SSC_STSBIT_SYS_SYEO7 Synchronizing group 7 In non synchronous mode 550 STSBIT SYS 8 550 STSBIT SYS SYEOS8 Synchronizing group 8 6 BIT DEFINITION LIST Bit number constant Signal name Bit number constant SSC STSBIT SYS Reboot preparation complete SSC STSBIT SYS RBNG Reboot preparation error SSC STSBIT SYS CALM _ Current system alarm SSC STSBIT SYS 68 Reserved SSC STSBIT SYS SMOUT Monitor output SSC 5 5 5 5 SMRCH Monitor latch SSC STSBIT SYS LOGO Log operatio
88. Data Reads the log data 4 18 5 Functions sscClearLogData Clears initializes the log data 4 18 6 sscGetAlarmHistoryData Gets alarm history data 4 18 7 sscCheckAlarmHistoryEventNum Gets the number of valid alarm history data events 4 18 8 sscClearAlarmHistoryData Clears initializes the alarm history data 4 18 9 sscGetDigitallnputDataBit Gets the DI data of the designated digital input in 1 point basis 4 19 1 Bin sscGetDigitallnputDataWord Gets the DI data of the designated digital input in 16 point basis 4 19 2 ale sscSetDigitalOutputDataBit Sets the DO data of the designated digital output in 1 point basis 4 19 3 Input Output s Functions sscSetDigitalOutputDataWord Sets the DO data of the designated digital output in 16 point basis 4 19 4 sscGetDigitalOutputDataBit Gets the DO data of the designated digital output in 1 point basis 4 19 5 sscGetDigitalOutputDataWord Gets the DO data of the designated digital output in 16 point basis 4 19 6 sscGetMarkDetectionData Gets mark detection data 4 20 1 Mark Detection Functions sscGetMarkDetectionCounter Gets mark detection counter 4 20 2 uncti sscClearMarkDetectionData Clears initializes the mark detection data 4 20 3 ssclfmGetReadErrorCount Gets read error counter 4 21 1 ssclfmSetHomePosition Performs home position set 4 21 2 ssclfmGetMaximumBufferNumber Gets maximum buffer number Only position control mode ETE 21 3 ssclfmGetMaximumBufferNumberEx Gets maxim
89. Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR DVO TABLE RANGE OVER The word num word cnt designated by the argument exceeds the size of the output device table Point None Supported version API Ver Header file Ver 1 80 mo2xxstd h Reference sscGetOutputDeviceBit sscSetOutputDeviceWord 4 176 4 FUNCTION DETAILS 4 24 Transient transmit functions 4 24 1 sscSendReceiveTransientData Sends and receives the specified transient transmit data for axes or stations connected to SSCNET int sscSendReceiveTransientData int board_id int channel int axnum TRANSIENT_CMD pTransientCmd TRANSIENT_STS pTransientSts int timeout Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 4 to 1 1 to 32 1 to 32 Axis 4 to 1 Station 1 Station 1 2 Station 2 3 Station 3 4 Station 4 pTransientCmd in Pointer to 16 byte structure 16 bytes x 1 which stores the transient transmit command data Refer to 5 8 TRANSIENT_CMD structure for the transient transmit command data structure pTransientSts out Pointer to 16 byte structure 16 bytes x 1 which stores the transient transmit status data Refer to 5 9 TRANSIENT_STS structure for the transient transmit status data structure timeout in Timeout time ms 0 to 65535 Retu
90. End sscintEnable 4 146 4 FUNCTION DETAILS 4 22 2 The interrupt driver will be closed int ssclntEnd int board id Argument board id in Board ID number 0 to 3 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR ALREADY END INT DRIVER The interrupt driver has already been closed SSC FUNC ERR DEVICE DRIVER An error occurred with a call of the device driver SSC FUNC ERR SET EVENT An error occurred in the SetEvent function Win32API Call the GetLastError function of Win32API and confirm the error details SSC FUNC ERR TIMEOUT 01 While the discard of interrupt handler is being waited the timeout time 1 second has elapsed SSC FUNC ERR DELETE THREAD An error occurred in the CloseHandle function Win32API Call the GetLastError function of Win32API and confirm the error details SSC FUNC ERR DELETE EVENT An error occurred in the CloseHandle function Win32API Call the GetLastError function of Win32API and confirm the error details SSC FUNC ERR GET EXIT CODE THREAD An error occurred in the GetExitCodeThread function Win32API Call the GetLastError function of Win32API and confirm the error details
91. IMEOUT 00 During the confirmation of response after executing the command to the O 1 to 2 Timeout location position board the timeout time 1 second has elapsed SSC FUNC ERR STS BIT TACE The acceleration time constant change error signal TACE turned on Point None Supported version Ver Header file Ver 1 00 me2xxstd h Reference sscGetDrivingPointNumber sscChangeAutoPosition sscChangeAutoSpeed sscChangAutoDecTime 4 FUNCTION DETAILS 4 10 8 sscChangeManualDecTime The JOG operation or incremental feed deceleration time constant will be changed The change deceleration time constant signal TDCHG will be turned on and the completion of preparation for changing deceleration time constant signal TDCF or the deceleration time constant change error signal TDCE will be confirmed to be on int sscChangeManualDecTime int board_id int channel int axnum short dectime Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 dectime in Manual feed speed deceleration time constant after change ms 0 to 20000 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument loca
92. ION DETAILS 4 10 7 sscChangeAutoAccTime The automatic operation or linear interpolation acceleration time constant will be changed The change acceleration time constant signal TACHG will be turned on and the completion of preparation for changing acceleration time constant signal TACF or the acceleration time constant change error signal TACE will be confirmed to be on int sscChangeAutoAccTime int board_id int channel int axnum int pntnum short acctime Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 pntnum in Point number 0 to 319 acctime in Acceleration time constant after change ms 0 to 20000 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location SSC_FUNC_ERR_MISMATCH_DRIVE_MODE The operation mode is other than the Automatic operation or Linear interpolation SSC_FUNC_ERR_POINT_NUMBER_OVER Designated point number point number offset value exceeded the point table range SSC_FUNC_ERR_NOW_ALARM_SYSTEM A system error E h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC FUNC ERR T
93. J3 LIB RJ006 Servo amplifier Instruction Manual SH 030056 This manual explains the I O signals parts names parameters start up procedure and others for Fully 1 304 Closed Loop Control MR J3 L1B RJ006 Servo amplifier SSCNETI interface 2 axis AC Servo AmplifierMR J3W 0303BN6 MR J3W LIB Servo amplifier Instruction Manual SH 030073 This manual explains the 1 signals parts names parameters start up procedure and others for 2 axis AC 1CW604 Servo Amplifier MR J3W 0303BN6G MR J3W 1B Servo amplifier SSCNETII Interface Direct Drive Servo MR J3 L1B RJ080W Servo amplifier Instruction Manual SH 030079 This manual explains the 1 signals parts names parameters start up procedure and others for Direct 1CW601 Drive Servo MR J3 L B RJ080W Servo amplifier SSCNETII interface Drive Safety integrated MR J3 L1B Safety Servo amplifier Instruction Manual SH 030084 This manual explains the 1 signals parts names parameters start up procedure and others for safety 1CW205 integrated MR J3 LIB Safety Servo amplifier 1 SUMMARY 1 SUMMARY This position board API library is a collection of API functions for creating applications on the host controller which control our position boards shown below PCI bus compatible position board MR MC210 MR MC21 1 PCI express bus compatible position board MR MC240 MR MC241 By using these functions it is possible to open
94. K Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC ERR TIMEOUT 00 During the confirmation of response after executing the command to the O 1 to 2 Timeout location position board the timeout time 10 second has elapsed SSC FUNC ERR STS BIT CCE The disconnection error CCE occurred Point For the Error code of reconnection disconnection refer to MR MC210 MR MC211 MR MC240 MR MC241 Position Board User s Manual Details Supported version Ver Header file Ver 1 80 medxxstd h Reference sscReconnectSSCNET 4 FUNCTION DETAILS 4 6 Command Status functions 1 Processing procedure a Example of command status processing procedure when turning on the servo with wait function Host controller Position board ee een Issues the servo on command Processes the servo on Ue ama a a ep ae a a ae 11 Example H sts sscSetCommandBitSignalEx I T bid ch ax CMDBIT AX SON SSC T if sts SSC OK 1 error process Executing arbitrary process during the period is impossible until the servo on pou eae pe A tice E Et 2 2058
95. Maintenance inspection and part replacement NCAUTION Perform the daily and periodic inspections according to the instruction manual Perform maintenance and inspection after backing up the program and parameters for the position board and servo amplifier Do not place fingers or hands in the clearance when opening or closing any opening Periodically replace consumable parts such as batteries according to the instruction manual Do not touch the lead sections such as ICs or the connector contacts Before touching the position board always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the position board to fail or malfunction Do not directly touch the position board s conductive parts and electronic components Touching them could cause an operation failure or give damage to the position board Do not place the position board or servo amplifier on metal that may cause a power leakage or wood plastic or vinyl that may cause static electricity buildup Do not perform a megger test insulation resistance measurement during inspection When replacing the position board or servo amplifier always set the new position board settings correctly When the position board or absolute value motor has been replaced carry out a home position return operation from the user program Failing to do so may cause position displacement After maintenance and inspections are com
96. N DETAILS 4 23 4 sscSetOutputDeviceWord Gets the designated output word device in 1 word basis int sscSetOutputDeviceWord int board_id int channel int word_num int word_cnt unsigned short dev_out Argument board_id in Board ID number 0 to 3 channel in Channel number 1 word num Output word device number 0000h to OOFFh word cnt in Word points from the ouput word device number 0001h to 0100h dev out in Pointer to the array 2 bytes x word cnt which stores the setting data Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR DVO TABLE RANGE OVER The word num word cnt designated by the argument exceeds the size of the output device table Point None Supported version API Ver Header file 1 80 mo2xxstd h Reference sscSetOutputDeviceBit sscGetOutputDeviceWord 4 174 4 FUNCTION DETAILS E ENY 4 23 5 sscGetOutputDeviceBit Gets the designated output bit device in 1 point basis int sscGetOutputDeviceBit int board_id int channel int bit_num int dev_out Argument board_id in Board ID number 0 to 3 channel in Channel number 1 bit_num
97. NC_ERR_NOT_START_INT_DRIVER FUNC_ERR_NOT_START_INT_DRIVER The The interrupt driver is closed Call the sscintStart function driver is closed Call the sscIntStart function SSC_FUNC_ERR_SET_EVENT An error occurred in the SetEvent function Win32API Call the GetLastError function of Win32API and confirm the error details Point When the standby status is released by calling this function an error occurs in the sscWaitlntPassPosition function Supported version API Ver Header file Ver 1 02 mo2xxstd h Reference sscWaitIntPassPosition 4 165 4 FUNCTION DETAILS 4 22 18 sscWaitlntPassPosition This function waits until the pass position interrupt event status becomes signaled This function is used to wait for the interrupt from the position board for the designated pass position condition number The checked status will be stored in the variable designated by the pointer int sscWaitlntPassPosition int board_id int channel int pass_num int pass_status int timeout Argument board_id in Board ID number 0 to 3 channel in Channel number 1 pass_num in Pass position condition number 1 to 64 pass_status out Pointer to 4 byte variable 4 bytes x 1 which stores the pass position status Description SSC_PASS_STS_FIN Pass position interrupt complete SSC_PASS_STS_ERR Pass position interrupt incomplete timeout in Timeout time ms 0 to 65535 Return value SSC_OK Function
98. NumEXx sse 4 24 4 5 SYStSMTUNCUONS ea ee een en eee eee eee 4 25 4 551 56 aii cine T TU TT 4 26 4 5 2 58 5 8 ine ea de an eae eae 4 27 4 5 3 sscGetSystemeStatusCode anie ueniens dep idt t ige nen 4 28 4 5 4 sscReconnectSSCNET cccccceccceeseeeeeeececeesneeceneeceaeeccaeeesaneesaeeseaeeseaeessaneeseaeeseaeeseaeeseeesseeeseeeetaes 4 29 4 5 5 sscDisconnectS SCNET nini ade e d e e d d e ee HL de Me el Lade e dL de o dene 4 30 4 6 Command Status functions eene 4 31 4 6 1 4 32 4 6 2 sscGetStatusBitSigrialEx uode Dn Re 4 33 4 6 3 5 5 nennen nennen enne nnne nnne nnne enne nennen 4 34 4 7 Point table f nctlons ep mu m ln 4 36 Ad 1 SscoetPolhtDataEx ce tte e 4 36 4 7 2 s cCheckPointData Ex niii oi ti naiean aaike tet nennen 4 37 88 hte heats 4 38 4 7 4 sscCheckPointOffset nnn
99. Parameter 4 FUNCTION DETAILS 4 4 5 sscCheck2Parameter Two set values for the designated parameters will be read int sscCheck2Parameter int board_id int channel int axnum short prmnum short prmdata char status Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 4 to 32 0 System parameter 1 to 32 Axis parameter 4 to 1 Station parameter 1 Station 1 2 Station 2 3 Station 3 4 Station 4 prmnum in Pointer to 4 byte array 2 bytes x 2 which stores the parameter read numbers for 2 numbers prmdata out Pointer to 4 byte array 2 bytes x 2 which stores the parameter read data for 2 data status out Pointer to 2 byte array 1 byte x 2 which stores the parameter got statuses for 2 statuses The got data is set in the logical sum of each value SSC_BIT_PRFIN Parameter read complete SSC_BIT_PREN Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 to 9 Argument location During the confirmation of response after executing the command to the 1 to 2 Timeout location position board the timeout time 1 second has elapsed A system error E h occurred Get the system status code with the sscGetSystemStatusCode function and remove the
100. R MC210 MR MC211 MR MC240 MR MC241 Position Board User s Manual Details for description of the data stored Supported version API Ver Header file Ver 1 80 mc2osstd h Reference sscRegisterIntCallback 5 STRUCTURE LIST MEMO 16 6 BIT DEFINITION LIST 6 BIT DEFINITION LIST The following tables list the bit definitions to be specified in the sscSetCommandBitSignalEX function sscGetStatusBitSignalEx function and sscWaitStatusBitSignalEx function 6 1 System command bit ssc svs o4 Reserved SSC CMDBIT SYS 04 CMDBIT SYS 04 55 SYS 12 CMDBIT SYS_ 12 SSC_CMDBIT_SYS_HMA 27 Program Memory SSC_CMDBIT_SYS_13 Reserved SSC CMDBIT SYS 06 CMDBIT SYS 06 55 CMDBIT SYS 14 CMDBIT SYS 14 SSC CMDBIT SYS 07 Reserved SSC SYS 15 SSC CMDBIT SYS 08 SSC CMDBIT SYS 16 Bit number constant Bit number constant az SYS 26 sys 1e CMDBIT SYS 19 EIN 2 CMDBIT SYS 27 Se ae CMDBIT SYS 20 55 CMDBIT SYS 28 22 _ CMDBIT SYS 21 Reserved SSC CMDBIT sys 29 90 ss CMDBIT_SYS_22 ssn SYS 30 ssc ssa CMDBIT_SYS_23 Sse ae _ CMDBIT SYS 31 55 CMDBIT SYS 24 55 CMDBIT SYS 32 Bit number constant Bit number constant SSC CMDBIT svs _ Mterupt processing high speed SSC_CMDBIT SYS 41
101. SC CMDBIT SYS 93 SSC CMDBIT SYS 94 SSC CMDBIT SYS 95 SSC CMDBIT SYS 96 Bit number constant SSC CMDBIT SYS 105 SSC CMDBIT SYS 106 SSC CMDBIT SYS 107 SSC CMDBIT SYS 108 SSC CMDBIT SYS 109 SSC CMDBIT SYS 110 SSC SYS 111 SSC CMDBIT SYS 112 Bit number constant SSC CMDBIT SYS 121 SSC CMDBIT SYS 122 SSC CMDBIT SYS 123 SSC CMDBIT SYS 124 SSC CMDBIT SYS 125 SSC CMDBIT SYS 126 SSC CMDBIT SYS 127 SSC CMDBIT SYS 128 Signal name Reserved Signal name Reconnection command Reserved Reserved Signal name Reserved Signal name Reserved 6 BIT DEFINITION LIST SSC_CMDBIT_SYS_133 SSC_CMDBIT_SYS_134 SSC CMDBIT SYS 135 SSC CMDBIT SYS 136 Reserved SSC CMDBIT SYS SMPSW Sampling setting write command Reserved SSC CMDBIT SYS SMPSR Sampling setting read command SSC SYS 150 Bit number constant 550 SYS 148 550 SYS 151 Reserved SSC_CMDBIT_SYS_152 Signal name Bit number constant SSC_CMDBIT_SYS_161 SSC_CMDBIT_SYS_162 SSC_CMDBIT_SYS_163 SSC_CMDBIT_SYS_164 SSC_CMDBIT_SYS_166 Bit number constant Signal name SSC CMDBIT SYS SPRD Parameter read command SSC CMDBIT SYS 138 SSC CMDBIT SYS 139 SSC CMDBIT SYS 140 SSC SYS 141 SSC SYS 142 SSC CMDBIT SYS 143 Reserved SSC SYS 144 Bit number constant SSC CMDBIT SYS 153 SSC CMDBIT SYS 154 SSC CMDBIT S
102. SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR ALREADY ENABLE WDT The user watchdog function has been already valid Point None Supported version API Ver Header file 1 00 mo2xxstd h Reference sscWdDisable 4 FUNCTION DETAILS 4 14 2 sscWdDisable The user watchdog function will be disabled int sscWdDisable int board_id int channel Argument board_id in Board ID number 0 to 3 channel in Channel number 1 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 ce LA 7 location SSC FUNC ERR ALREADY DISABLE WDT FUNC ERR ALREADY DISABLE WDT The user The user watchdog function has been already invalid function has been already invalid Point None Supported version Ver Header file Ver 1 00 medxxstd h Reference sscWdEnable 4 FUNCTION DETAILS 4 14 3 sscChangeWdCounter The watchdog counter will be updated 1 int sscChangeWdCounter int board_id int channel Argument board_id in Board ID number 0 to 3 channel in Channel number 1 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the
103. StopNoWait sess nnne tnnt 4 55 4 9 11 5560 5 itid da E RE HUE 4 56 4 9 12 sscDnvehlapidStopNOWhalil i eee eati ebenen 4 57 4 9 13 sscSetDriveMode 4 58 4 9 14 sscGetDriveMode entente edet dee vega xe deno 4 60 4 9 15 sscGetDriveFinStatus enne 4 61 4 9 16 sscChangeControlMode aia nenne enne e nennen 4 63 4 10 Change sTunctions earair na tne ene rn eh Pe e e P n n o Pe a 4 64 4 10 1 sscChangeManualPosition 4 64 4 10 2 sscChangeAutoPosition necessest RAIN tenente tnnt tate 4 65 4 10 3 sscChangeLinearPosition 4 66 4 10 4 sscChangeManualSpeed sss nnne nnne enne nnne entes enne nennen 4 67 4 10 5 sscChangeA toSpeoed 5 9 d neue ef e n ef e e tos 4 68 4 10 6 sscChangeManualAccT ime sse 4 69 4 10 7 55 e tee e he ER Hr Ie p 4 70 4 10 8 sscChangeManualDecTime esses rennen tentent enne nns 4 71 4 10 9 sscChangeAutoDecTime sssssssesseseeeeenene nnne nne ener 4 72 4 11 Alarm f nctions rete e E
104. System interrupt event 1 to 32 Axis interrupt event 4 to 1 Station interrupt event 1 Station 1 2 Station 2 3 Station 3 4 Station 4 timeout in Timeout time ms 0 to 65535 eventcode out Pointer to 4 byte variable 4 bytes x 1 which stores the multiple event factors Refer to Chapter 7 INTERRUPT EVENT FACTOR LIST for the event factors Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location The interrupt driver is closed Call the ssclntStart function An error occurred in the WaitForMultipleObjects function Win32API Call the GetLastError function of Win32API and confirm the error details event factor was being confirmed SSC_FUNC_ERR_TERMINATE_NOTIFY_EVENT An error occurred in the interrupt event notification thread while the interrupt TEE NOTE SENT SSC_FUNC_ERR_TIMEOUT_01 While the interrupt for the designated event factor was being waited the designated timeout time elapsed SSC_FUNC_ERR_SET_HOST_APPLICATION_EVENT While the interrupt for the designated event factor was being waited a function which releases the standby status was called from the user program Point When SSC INFINITE is designated as the tim
105. T Reserved SSC CMDBIT AX 8 SSC CMDBIT AX 16 Bit number constant Signal name Bit number constant Bit number constant SSC_CMDBIT_AX_ITL Interlock SSC CMDBIT AX SCHG Change speed High speed monitor latch Change acceleration time SSC CMDBIT AX RMONR 550 CMDBIT AX TACHG T command constant Bit number constant SSC_CMDBIT_AX_ST Start operation SSC_CMDBIT_AX_DIR Movement direction SSC_CMDBIT_AX_STP Stop operation Reserved Change deceleration time SSC_CMDBIT_AX_35 SSC_CMDBIT_AX_TDCHG Reserved T constant Reserved Reserved 6 BIT DEFINITION LIST Bit number constant SSC_CMDBIT_AX_GAIN SSC FCLS SSC CMDBIT AX 67 SSC CMDBIT AX CPC SSC CMDBIT AX 69 SSC CMDBIT AX 70 SSC CMDBIT AX 71 Signal name Gain switching command Fully closed loop control change command Reserved PID control command Reserved SSC CMDBIT AX 72 Bit number constant Signal name SSC CMDBIT AX 81 SSC CMDBIT AX 82 SSC CMDBIT AX 83 SSC CMDBIT AX 84 Reserved Bit number constant SSC 73 SSC CMDBIT AX 74 SSC CMDBIT AX 75 SSC CMDBIT AX 76 SSC CMDBIT AX 77 SSC 78 SSC CMDBIT AX 79 SSC CMDBIT 80 Signal name Reserved Bit number constant SSC CMDBIT AX 89 SSC CMDBIT AX 1 SSC CMDBIT AX MKD1 SSC CMDBIT MKSEN1 Reserved Mark detection clear command 1
106. T 85 Reserved SSC STSBIT UT 86 SSC STSBIT UT 87 SSC STSBIT UT 88 Bit number constant Signal name SSC STSBIT UT 97 SSC STSBIT UT 98 SSC STSBIT UT 99 SSC STSBIT UT 100 SSC STSBIT UT 101 SSC STSBIT UT 102 SSC STSBIT UT 103 SSC STSBIT UT 104 Bit number constant Signal name SSC STSBIT UT 113 SSC STSBIT UT 114 SSC STSBIT UT 115 SSC STSBIT UT 116 SSC STSBIT UT 117 SSC STSBIT UT 118 SSC STSBIT UT 119 SSC STSBIT UT 120 Reserved Reserved SSC STSBIT UT 77 SSC STSBIT UT 78 SSC STSBIT UT 89 SSC STSBIT UT 105 Reserved Reserved 7 INTERRUPT EVENT FACTOR LIST 7 INTERRUPT EVENT FACTOR LIST The following lists the interrupt event factors 1 System interrupt SSC_INT_SYS_03 SSC_INT_SYS_04 SSC_INT_SYS_05 SSC_INT_SYS_06 SSC_INT_SYS_OCME Operation cycle alarm Reserved Factor of other axes start interrupt is being SSC_INT_SYS_OASF Seni SSC_INT_SYS_PPI Factor of pass position interrupt is being sent SSC_INT_SYS_10 SSC_INT_SYS_11 SSC_INT_SYS_12 SSC_INT_SYS_13 Reserved SSC_INT_SYS_14 SSC_INT_SYS_15 7 INTERRUPT EVENT FACTOR LIST 2 Axis interrupt SSC_INT_AX_TLC Torque limit effective During smoothing of stopping SSC_INT_AX_TLSO Selecting torque limit SSC_INT_AX_26 SSC_INT_AX_27 SSC_INT_AX_28 Reserved SSC_INT_AX_29 SSC_INT_AX_30 SSC_INT_AX_31 7 INTERRUPT EVENT FACTOR LIST 3 Station interrupt Reserved SSC_IN
107. T AX 242 SSC CMDBIT AX 243 SSC CMDBIT AX 244 SSC CMDBIT AX 245 SSC CMDBIT AX 246 SSC CMDBIT 247 SSC CMDBIT AX 248 Reserved Reserved Reserved Reserved SSC CMDBIT AX 205 SSC CMDBIT AX 206 Reserved Bit number constant SSC 217 SSC CMDBIT AX 218 SSC CMDBIT AX 219 SSC CMDBIT AX 220 T Reserved SSC CMDBIT AX 221 SSC CMDBIT AX 222 SSC CMDBIT AX 223 SSC 224 SSC CMDBIT AX 233 6 BIT DEFINITION LIST 6 4 Axis status bit Bit number constant SSC_STSBIT_AX_RDY SSC_STSBIT_AX_INP In position Bit number constant SSC_STSBIT_AX_OP During operation SSC_STSBIT_AX_CPO Rough match SSC_STSBIT_AX_ZSP Zero speed SSC_STSBIT_AX_PF Positioning finish SSC_STSBIT_AX_ZPAS Passed Z phase SSC_STSBIT_AX_TLC Torque limit effective SSC_STSBIT_AX_SALM SSC_STSBIT_AX_SWRN Absolute position disappearance Bit number constant SSC_STSBIT_AX_ISTP Interlock stop SSC_STSBIT_AX_RMRCH SSC_STSBIT_AX_ABSE High speed monitor is latched SSC_STSBIT_AX_POV SSC_STSBIT_AX_STO Start up acceptance complete SSC_STSBIT_AX_37 Reserved SSC_STSBIT_AX_38 SSC_STSBIT_AX_ZREQ Home position return request SSC STSBIT 40 Bit number constant SSC 5 49 SSC STSBIT AX 50 SSC 5 AX 51 Reserved Stop position over bound SSC STSBIT AX ZP Home position return complete SSC STSBIT AX
108. TS ALM STP Alarm occurrence stop complete SSC FIN STS ALM MOV Alarm occurrence during deceleration stop timeout in Timeout time ms 0 to 65535 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function 4 169 4 FUNCTION DETAILS Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR NOT START INT DRIVER The interrupt driver is closed Call the sscIntStart function SSC FUNC ERR WAIT EVENT An error occurred in the WaitForSingleObject function Win32API Call the GetLastError function of Win32API and confirm the error details SSC FUNC ERR TERMINATE INT DRIVER The function was called while the interrupt for the designated event factor was being confirmed for the designated event factor was being confirmed designated timeout time elapsed SSC FUNC ERR SET HOST APPLICATION EVENT While the interrupt for the designated event factor was being waited a function which releases the standby status was called from the user program Point The completion of operation check conditions are the operation completion type designated by the argument f Completion of operation by smoothing stop Completion of operation by rough match Completion of operation by in positi
109. T_UT_RUWRN RIO module warning SSC_INT_UT_07 SSC_INT_UT_08 SSC_INT_UT_09 Reserved SSC_INT_UT_10 SSC_INT_UT_11 SSC_INT_UT_12 SSC_INT_UT_RCALM RIO control alarm SSC_INT_UT_14 Reserved SSC_INT_UT_15 7 INTERRUPT EVENT FACTOR LIST MEMO 8 LIST OF DETAILED ERROR CODES 8 LIST OF DETAILED ERROR CODES The following shows the detailed error codes 1 Common error Constant definition FFFFFFFFh SSC_FUNC_ERR_UNKNOWN No errors 1 have occurred after using the API functions SSC FUNC ERR ARGUMENT 00 00000002h 1 to 9 Argument location 00000003h 00000004h 00000005h 00000006h 00000007h 00000008h 00000009h 00000100h SSC FUNC ERR ARGUMENT MISMATCH 00010000h 00010100h 00010200h 00010300h 00010400h SSC FUNC ERR TIMEOUT 00 1 to 5 Timeout location 2 Device functions error Value Constant definition SSC_FUNC_ERR_REOPEN The sscOpen function is already called SSC_FUNC_ERR_UNOPEN The sscOpen function has not been called 00020000h 00020010h 00021010h SSC_FUNC_ERR_NOT_FOUND_BOARD 00021011h SSC_FUNC_ERR_GET_CHANNEL_NUM 00021012h SSC_FUNC_ERR_UNSUPPORT_DEVICE_DRIVER The argument is outside the set range The axis number and the command bit number status bit or alarm type do not correspond Example When 0 is set to the axis number and SSC_CMDBIT_AX_SON is set to the command bit number etc When 0 is set to the axis number and SSC_SYSBIT_AX_RDY i
110. VENT An error occurred in the ResetEvent function Win32API Call the GetLastError function of Win32API and confirm the error details Point None Supported version Ver Header file Ver 1 80 mo2xxstd h Reference sscWaitlntEvent 4 152 4 FUNCTION DETAILS 4 22 8 sscSetlntEvent Interrupt event signal status will be signaled This function is used to release the standby status with the sscWaitlntEvent function at the timing of the user program not the interrupt event of the position board int sscSetintEvent int board id int channel int axnum int eventnum int eventfactor Argument board id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 4 to 32 0 System interrupt event 1 to 32 Axis interrupt event 4 to 1 Station interrupt event 1 Station 1 2 Station 2 3 Station 3 4 Station 4 eventnum in Event wait number 0 to 1 eventfactor in Event factor Refer to Chapter 7 INTERRUPT EVENT FACTOR LIST for the event factors Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR NOT START INT DRIVER The interrupt driver is closed Call the
111. Win32API Call the GetLastError function of Win32API and confirm the error details Point When the standby status is released by calling this function an error occurs in the sscWaitlntOasEvent function Supported version API Ver Header file Ver 1 02 me2xxstd h Reference sscWaitlntOasEvent 4 161 4 FUNCTION DETAILS GE ech ec 7 4 22 15 sscWaitlntOasEvent This function waits until the other axes start interrupt event status becomes signaled This function is used to wait for the interrupt from the position board for the designated other axes start wait type The checked status will be stored in the variable designated by the pointer int sscWaitlntOasEvent int board id int channel int axnum int oas num int oas type int oas status int timeout Argument board id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number of other axes start table 1 to 32 oas num in Other axes start table number 1 to 32 oas type in Other axes start wait type SSC OAS WAIT TYPE OP Other axes start notice wait SSC OAS WAIT TYPE FIN Other axes start completion wait oas status out Pointer to 4 byte variable 4 bytes x 1 which stores the other axes start status SSC OAS STS OP Other axes start notice SSC OAS STS FIN Other axes start complete SSC O
112. YS 155 SSC CMDBIT SYS 156 SSC SYS 157 SSC CMDBIT SYS 158 SSC CMDBIT SYS 159 SSC CMDBIT SYS 160 Bit number constant Signal name SSC CMDBIT SYS 169 SSC CMDBIT SYS 170 SSC CMDBIT SYS 171 SSC SYS 172 SSC CMDBIT SYS 173 SSC SYS 174 Signal name Reserved Reserved SSC CMDBIT SYS 167 SSC CMDBIT SYS 168 SSC CMDBIT SYS 176 Bit number constant Bit number constant Signal name SSC CMDBIT SYS FTR Flash ROM transfer preparation SSC CMDBIT SYS ALHR Alarm history read command SSC SYS 186 Reserved Alarm history initialization command SSC CMDBIT SYS 175 Reserved SSC CMDBIT SYS 165 SSC CMDBIT SYS FTS Flash ROM transfer execution SSC CMDBIT SYS 179 T ui T Reserved SSC SYS 180 Flash ROM initialization SSC SYS FIR T preparation Flash ROM initialization execution SSC_CMDBIT_SYS_183 Reserved SSC CMDBIT SYS 184 SSC CMDBIT SYS ALHI SSC CMDBIT SYS 188 SSC SYS 189 Reserved SSC CMDBIT SYS FIS SSC CMDBIT SYS 190 SSC CMDBIT SYS 191 SSC SYS 192 6 BIT DEFINITION LIST SSC_CMDBIT_SYS_197 SSC_CMDBIT_SYS_198 SSC CMDBIT SYS 199 SSC CMDBIT SYS 200 Bit number constant SSC CMDBIT SYS 209 SSC CMDBIT SYS 210 SSC CMDBIT SYS 211 SSC CMDBIT SYS 212 Reserved SSC CMDBIT SYS 213 SSC CMDBIT SYS 214 Reserved SSC CNDBIT SYS 215 SSC SYS 216
113. ach model can be seen in our Sales and Service etc 2 Please note that the Product including its spare parts cannot be ordered after its stop of production 3 Service in overseas countries Our regional FA Center in overseas countries will accept the repair work of the Product However the terms and conditions of the repair work may differ depending on each FA Center Please ask your local FA center for details 4 Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability Whether under or after the term of warranty we assume no responsibility for any damages arisen from causes for which we are not responsible any losses of opportunity and or profit incurred by you due to a failure of the Product any damages secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company any damages to products other than the Product and also compensation for any replacement work readjustment start up test run of local machines and the Product and any other operations conducted by you 5 Change of Product specifications Specifications listed in our catalogs manuals or technical documents may be changed without notice 6 Precautions for Choosing the Products 1 For the use of our Position Board its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in Position Board and a backup or fail safe function should
114. adAllParameterFromFlashROM int board_id int channel int timeout Argument board_id in Board ID number 0 to 3 channel in Channel number 1 timeout in Timeout time ms 0 to 65535 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error codes Cause countermeasure 1 to 9 Argument location the system with the sscReboot function SSC ERR TIMEOUT 0 During the confirmation of response after executing the command to the 1 to 2 Timeout location position board the designated timeout time has elapsed SSC FUNC ERR FLASHROM PARAM LOAD The flash ROM parameter read error occurred Point SSC FUNC ERR NOW ALARM SYSTEM A system error E h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause When a value 2 seconds 2000ms or less is designated as the timeout time the timeout will be 2 seconds 2000ms Supported version API Ver Header file 1 00 me2xxstd h Reference sscSaveAllParameterToFlashROM 4 FUNCTION DETAILS 4 4 7 sscSaveAllParameterToFlashROM All parameters will be saved to the flash ROM int sscSaveAllParameterToFlashROM int board_id int channel int timeout Argument board id in Board ID number 0 to 3
115. adero Technologies Inc All other company names and product names used in this manual are trademarks or registered trademarks of their respective companies IB NA 0300225 C POSITION BOARD User s Manual API Library MR MC210 MR MC211 MR MC240 MR MC241 MODEL MRMC2 U API E MODEL 1XB970 IB NA 0300225 C 1507 MEE MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission Specifications subject to change without notice
116. all the ssclntStart function SSC_FUNC_ERR_RESET_EVENT An error occurred in the ResetEvent function Win32API Call the GetLastError function of Win32API and confirm the error details Point None Supported version API Ver Header file 1 00 me2xxstd h Reference sscWaitlntOasEvent 4 160 4 FUNCTION DETAILS 4 22 14 sscSetlntOasEvent Other axes start interrupt event signal status will be signaled This function is used to release the standby status with the sscWaitlntOasEvent function at the timing of the user program not the interrupt event of the position board int sscSetlntOasEvent int board id int channel int axnum int oas num Argument board id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number of other axes start table 1 to 32 oas num in Other axes start table number 1 to 32 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 140 9 location SSC FUNC ERR NOT START INT DRVER FUNC ERR NOT START INT DRIVER The The interrupt driver is closed Call the sscIntStart function driver is closed Call the ssclntStart function SSC FUNC ERR SET EVENT An error occurred in the SetEvent function
117. amplingError sscGetSamplingData 4 107 4 FUNCTION DETAILS 4 17 7 sscGetSamplingData The sampling read enabled points and the sampling data for 32 points will be got The sampling read enabled points are not confirmed int sscGetSamplingData int board_id int channel int page_num short valid_num SMP_DATA pSmpData Argument board_id in Board ID number 0 to 3 channel in Channel number 1 Sampling setting read number 1 to 256 valid_num out Pointer to the sampling read enabled points pSmpData out Pointer to 4224 byte structure 132 bytes x 32 which stores the sampling data Refer to 5 5 SMP DATA structure for the sampling data information structure Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location SSC_FUNC_ERR_TIMEOUT_01 During the confirmation of response after executing the command to the position board the timeout time 1 second has elapsed Point None Supported version API Ver Header file Ver 1 00 medxxstd h Reference sscStartSampling sscGetSamplingStatus 4 108 4 FUNCTION DETAILS 4 18 Log functions 4 18 1 sscStartLog Logging will be
118. ar dir Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 speed in Manual feed speed speed unit 0 to 2147483647 actime in Manual feed speed acceleration time constant ms 0 to 20000 dctime in Manual feed speed deceleration time constant ms 0 to 20000 dir in Movement direction SSC_DIR PLUS SSC_DIR MINUS Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function 4 FUNCTION DETAILS Detailed error code Value SSC FUNC ERR ARGUMENT 00 O 1 to 9 Argument location SSC FUNC ERR NOW DRIVING READY SSC FUNC ERR NOW DRIVING SSC FUNC ERR NOW ALARM SYSTEM SSC FUNC ERR NOW ALARM SERVO SSC FUNC ERR NOW ALARM DRIVE SSC FUNC ERR TIMEOUT 01 Point Cause countermeasure The argument is outside the set range During operation startup preparation until the position board receives the signal after the start operation is requested During operation A system error E h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause and remove the cause function and remove the cause position board the timeout time 1 second has elapsed The response is not confirmed after the start operation signal ST is turned on Supported ver
119. ation signal ST is turned off and the during operation signal OP is returned int sscDriveRapidStopNoWait int board_id int channel int axnum short stpsts Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 stpsts out Pointer to the stop complete status variable Pointer to 2 byte variable 2 bytes x 1 which stores the stop complete status Description SSC_DRIVING During operation SSC_DRIVE_FIN Stop complete Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location position board the timeout time 1 second has elapsed A system error E OO O h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause Point In order to make use of wait inside this function the sscDriveRapidStop function should be used If the stop complete status storage variable has not been confirmed to be SSC DRIVE FIN the rapid stop operation signal RSTP will remain ON Supported version Ver Header file 1 00 me2xxstd h Reference sscDriveStop sscDriveStopNoWait sscDriveRapidStop 4 57 4 FUNCTION DETAILS Egg EEE
120. be closed int sscClose int board_id Argument board_id in Board ID number 0 to 3 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location SSC_FUNC_ERR_UNOPEN The sscOpen function has not been called driver is installed An error occurred in the CloseHandle function Win32API Call the GetLastError function of Win32API and confirm the error details Point Call sscClose which corresponds to the board ID where the memory access port is already open before finishing the user program Supported version API Ver Header file 1 00 me2xxstd h Reference sscOpen 4 FUNCTION DETAILS E gg ge i LL SaaS uiti zz 4 3 Information functions 4 3 1 sscGetControlCycle The control cycle status will be got int sscGetControlCycle int board_id int channel short ctrl_cycle Argument board_id in Board ID number 0 to 3 channel in Channel number 1 ctrl cycle out Pointer to 2 byte variable 2 bytes x 1 which stores the control cycle status Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function
121. bit 0020h unsigned short st_pnt_s unsigned short st_pnt_e char reserve2 12 0030h char reserve3 40 unsigned char dout ctrl unsigned char dout num unsigned short dout ctribit unsigned short dout data char reserve4 10 0068h OAS DATA Member opt own Axis option Set data in the logical sum of each value Value Remaining distance SSC OAS OWN REMAINING DISTANCE 20 specification Axis judgment condition Specified position pass SSC_OAS_OWN_POSITION_PASS a z specification SSC_OAS_OWN_JUDGE_COORD_FB Axis judgment Current feedback position coordinate SSC_OAS_OWN_JUDGE_COORD_CMD Command position 5 STRUCTURE LIST opt_observ Observed axis option Set data in the logical sum of each value ETT OAS_OBSERV_DISABLE Observed axis 55 OAS OBSERV_ENABLE OAS OBSERV ENABLE specification Enabe Observed axis judgment Observed axis specified SSC OAS OBSERV POSITION PASS condition nr pass specification SSC_OAS_OBSERV_JUDGE_COORD_FB Observed axis judgment Current feedback Current feedback position SSC_OAS_OBSERV_JUDGE_COORD_CMD coordinate Command position Condition is satisfied when observed axis position is less SSC_OAS_OBSERV_DATA_LESS than or equal to observed axis Observed axis specified specified position data position pass judgment Condition is satisfied when condition observed axis position is more than o
122. calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC ERR TIMEOUT 00 During the confirmation of response after executing the command to the postion O 1 to 2 Timeout location board the timeout time 1 second has elapsed Point The read complete buffer number is set to 0 after mark detection data is cleared Supported version API Ver Header file Ver 1 60 me2xxstd h Reference sscGetMarkDetectionData 4 127 4 FUNCTION DETAILS 4 21 Interface mode functions 4 21 1 ssclfmGetReadErrorCount Read error counter will be got int ssclfmGetReadErrorCount int board_id int channel short err_cnt Argument board_id in Board ID number 0 to 3 channel in Channel number 1 err_cnt out Pointer to 2 byte variable 2 bytes x 1 which stores the read error counter Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point None Supported version Ver Header file Ver 1 50 mc2xxstd h Reference None 4 128 4 FUNCTION DETAILS 4 21 2 ssc
123. ction int ssclfmGetEventStatusBits int board_id int channel int bitnum unsigned long status_bits Argument board_id in Board ID number 0 to 3 channel in Channel number 1 bitnum in Status bit number Operation alarm status_bits out Pointer to 4 byte variable 4 bytes x 1 which stores the status bit data of all axes bitO Axis 1 bit gt Axis 2 bit31 Axis 32 Bit ON 1 Bit OFF 0 For non controlled axes the status bit is permanently OFF Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR DISABLE EVENT DETECT Event detect function is not enabled Point When interrupt processing is ended by the ssclntDisable function or ssclntEnd function the correct status bit value cannot be got because the event notification function does not operate Because status bits are got using the event detect function this function reads faster compared to the sscGetStatusBitSignalEx function 4 142 4 FUNCTION DETAILS Supported version API Ver Header file Ver 1 72 mc2xxstd h Reference sscGetStatusBitSignalEx 4 143 4 FUNCTION DETAILS 4 22 Interrupt functions 1
124. cts they cause malfunction when entering our products Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products or treat packaging with methods other than fumigation heat method Additionally disinfect and protect wood from insects before packing products 4 Wiring Z CAUTION Correctly and securely wire the wires Reconfirm the connections for mistakes and the terminal screws for tightness after wiring Failing to do so may lead to run away of the servo motor After wiring install the protective covers such as the terminal covers to the original positions Do not install a phase advancing capacitor surge absorber or radio noise filter option FR BIF on the output side of the servo amplifier Correctly connect the output side terminal U V W and ground Incorrect connections will lead the servo motor to operate abnormally Do not connect a commercial power supply to the servo motor as this may lead to trouble Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake signals etc Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning Servo amplifier 24VDC Control output Control output signal signal DICOM For the sink output interface For the source output interface Do not connect or disconnect the connection cables b
125. d servo amplifier and servo motor used in a system must be compatible with the position board servo amplifier and servo motor Install a cover on the shaft so that the rotary parts of the servo motor are not touched during operation There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure when the ball screw and servomotor are connected with a timing belt etc Install a stopping device to ensure safety on the machine side 2 Parameter settings and programming Z CAUTION Set the parameter values to those that are compatible with the position board servo amplifier servo motor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode and servo amplifier The protective functions may not function if the settings are incorrect Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect Set the stroke limit input validity parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Set the servo motor encoder type increment absolute position typ
126. de call the ssclfmSetHomePosition function when the in position signal is ON 000D0001h SSC FUNC ERR STS BIT ZSE The home position set error ZSE occurred 000D0002h SSC FUNC ERR IFM CMD BUF FULL There is no free space in the position command buffer After checking that the position board transmit buffer number has been renewed call the ssclfmRenewLatestBuffer function or ssclfmRenewLatestBufferEx function 000D0003h SSC_FUNC_ERR_DISABLE_EVENT_DETECT Event detection function is not enabled 8 LIST OF DETAILED ERROR CODES 12 I O device functions error Constant definition 000E0000h SSC FUNC ERR DVI TABLE RANGE OVER The word num word cnt designated by the argument exceeds the size of the input device table 000E0001h 55 FUNC ERR DVO TABLE RANGE OVER The word num word cnt designated by the argument exceeds the size of the output device table 13 Transient transmit functions error Constant definition 000E1000h 55 FUNC ERR NOW TRANSIENT PROCESSING Transient processing 000E1001h SSC FUNC ERR TRANSIENT INVALID DATA Transient data is invalid 8 LIST OF DETAILED ERROR CODES MEMO WARRANTY Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gratis Warranty Range We will repair any failure or defect hereinafter referred to as failure in our FA equipment hereinafter referred to as the Product arisen during warranty period at
127. detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location Point None Supported version Ver Header file 1 00 me2xxstd h Reference sscWdEnable 4 FUNCTION DETAILS 4 15 Other axes start functions 4 15 1 sscSetOtherAxisStartData The other axes start data will be set int sscSetOtherAxisStartData int board_id int channel int oas_num OAS DATA pOasData Argument board id in Board ID number 0 to 3 channel in Channel number 1 oas num in Other axes start table number 1 to 32 pOasData in Pointer to 104 byte structure 104 bytes x 1 which stores the other axes start data Refer to 5 2 structure for the other axes start data structure Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point A check of the set other axes start data contents will not be performed Supported version Ver Header file 1 00 me2xxstd h Reference sscGetOtherAxisStartData 4
128. e etc parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Set the servo motor capacity and type standard low inertia flat etc parameter to values that are compatible with the system application The protective functions may not function if the settings are incorrect Set the servo amplifier capacity and type parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect Use the program commands for the program with the conditions specified in the instruction manual 3 Transportation and installation Z CAUTION Transport the product with the correct method according to the mass Use the servo motor suspension bolts only for the transportation of the servo motor Do not transport the servo motor with machine installed on it Do not stack products past the limit When transporting installing and removing the position board never touch the print board inner part and electronic components Hold the front panel or edge of the print board When transporting the position board or servo amplifier never hold the connected wires or cables When transporting the servo motor never hold the cables shaft or detector When transporting the position board or servo amplifier never hold the front case as it may fall off When transporting installing
129. e ERE E E YARN Re 4 73 ATIT sseG ee e tetendit tetuer ve 4 73 AP 2 5561 565 usc edic um ee ai 4 75 4 12 General monitor tenerte nnne nen 4 77 4 12 1 566561 xot SA et ene kA ee A eA ek ed 4 79 4 12 2 SSCSTOPMONItOM 4 81 4712 3 58C 8 MOTITOT 225 1 e beh de bum diet te ei 4 82 4 13 High speed monitor functions essssssseseseeeneeeenneneenenn rennen 4 83 4 13 1 4 83 4 13 2 sscGetCurrentFbPositionFast essen nennen nennen ennt 4 84 4 13 3 5ScGetloStatusEast Be i OE ORO I DOES 4 85 4 13 4 sscoetemdsSpeedkEast Haren ai wal dan 4 86 4 13 5 sscGetFbSpeedFast 4 87 4 13 6 sscGetGu rrentFbFast necne ences vete dede a uu pa ned 4 88 4 13 7 sscGetPositionDroopFast a iE 4 89 4 14 User watchdog fUNCHONS a ai nennen nennen enne 4 90 4514 1 SS8cWdEnable x etian
130. e interrupt callback function has The interrupt callback function has already been unregistered been unregistered Point None Supported version Ver Header file Ver 1 02 me2xxstd h Reference sscRegisterIntCallback 4 151 4 FUNCTION DETAILS 4 22 7 sscResetintEvent Interrupt event signal status will be nonsignaled This function is used if interrupt events occurring prior to calling up the sscWaitlntEvent function are to be disabled int sscResetintEvent int board id int channel int axnum int eventnum int eventfactor Argument board id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 4 to 32 0 System interrupt event 1 to 32 Axis interrupt event 4 to 1 Station interrupt event 1 Station 1 2 Station 2 3 Station 3 4 Station 4 eventnum in Event wait number 0 to 1 eventfactor in Event factor Refer to Chapter 7 INTERRUPT EVENT FACTOR LIST for the event factors Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR NOT START INT DRIVER The interrupt driver is closed Call the ssclntStart function SSC FUNC ERR RESET E
131. e numbers number do not correspond 00040025h for 2 numbers 00040026h SSC FUNC ERR MISMATCH WRITE DATAL The command and the status of the parameter write 00040027h O 1 to 2 Array number of the parameter write data for 2 data data do not correspond 8 LIST OF DETAILED ERROR CODES 5 Monitor functions error Constant definition SSC_FUNC_ERR STS A monitor number error occurred 1 to 4 Array number of the monitor numbers A value outside the range is set in the monitor number for 4 numbers The axis number and the monitor number do not correspond Example When System monitor is set to the axis 00050003h number and Axis monitor is set to the monitor number etc 00050004h SSC FUNC ERR STS BIT MESV The servo information was set as a monitor number when a servo amplifier was not connected 00050010h SSC FUNC ERR ALREADY MONITOR STOP The monitor has already stopped 0005001 1h SSC FUNC ERR NOT START MONITOR The monitor has not been started 00050012h SSC FUNC ERR MONITOR 2READ The acquisition of the monitor data failed because of the occurrence of the deviation of the update timing of the lower and upper monitor data Call the sscGetMonitor function again 6 Axis functions error Constant definition 00060010h SSC FUNC ERR NOW DRIVING During operation 0006001 1h SSC FUNC ERR NOW DRIVING READY During operation startup preparation until the position board receive
132. e of the position board When a number of parameters are written to multiple axes sequentially the writing time can be shortened by calling this function in each thread of system or axis Supported version API Ver Header file Ver 1 80 mc2osstd n Reference sscChange2Parameter sscCheckParameter sscCheck2Parameter 4 FUNCTION DETAILS 4 4 3 sscChange2Parameter Two of the parameters will be written int sscChange2Parameter int board_id int channel int axnum short prmnum short prmdata char status Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 4 to 32 0 System parameter 1 to 32 Axis parameter 4 to 1 Station parameter 1 Station 1 2 Station 2 3 Station 3 4 Station 4 prmnum in Pointer to 4 byte array 2 bytes x 2 which stores the parameter write numbers for 2 numbers prmdata in Pointer to 4 byte array 2 bytes x 2 which stores the parameter write data for 2 data status out Pointer to 2 byte array 1 byte x 2 which stores the parameter write statuses for 2 statuses The got data is set in the logical sum of each value SSC_BIT_PWFIN Parameter write complete SSC_BIT_PWEN Outside range of parameter SSC_BIT_PWED deis Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function
133. e turned off and the function will wait until all sampling status signals waiting for sampling trigger SMPW sampling is being performed SMPO sampling is complete SMPF and sampling error SMPE are turned off int sscStopSampling int board id int channel Argument board id in Board ID number 0 to 3 channel in Channel number 1 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 020 The argument is outside the set range 1 to 9 Argument location SSC_FUNC_ERR_TIMEOUT_01 During the confirmation of response after executing the command to the board the timeout time 1 second has elapsed SSC FUNC ERR ALREADY STOP SAMPLING FUNC ERR ALREADY STOP SAMPLING The The sampling has already stopped has already stopped Point Stop the sampling with this function after the sampling is complete signal SMPF or the sampling error signal SMPE turns on Supported version API Ver Header file 1 00 me2xxstd h Reference sscStartSampling 4 103 4 FUNCTION DETAILS 4 17 3 sscSetSamplingParameter The sampling parameters will be written int sscSetSamplingParameter int board_id int channel short prm_num long prm_data Argument board_id in Board ID number 0 to
134. efore calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC ERR TIMEOUT 00 During the response after executing the command to the position board the O 1 to 2 Timeout location designated timeout time has elapsed Point When a value 10 seconds 10000ms or less is designated as the timeout time the timeout will be 10 seconds 10000ms The function will reboot even if the function executes in the system preparation is complete Supported version Ver Header file Ver 1 00 medxxstd h Reference sscGetSystemStatusCode 4 FUNCTION DETAILS 4 5 2 sscSystemStart The system will start after servo amplifier communication initialization system preparation completion gt system running int sscSystemStart int board_id int channel int timeout Argument board_id in Board ID number 0 to 3 channel in Channel number 1 timeout in Timeout time ms 0 to 65535 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure O 1 to 9 Argument location the system with the sscReboot function SSC FUNC ERR TIMEOUT 01 During the confirmation of response after executing the com
135. ened int sscOpen int board_id Argument board_id in Board ID number 0 to 3 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location SSC_FUNC_ERR_REOPEN The sscOpen function is already called SSC_FUNC_ERR_DEVICE_DRIVER An error occurred with a call of the device driver Confirm that the device driver is installed SSC_FUNC_ERR_GET_CHANNEL_NUM The mount channel information cannot be got The operating system may not recognize the position board properly Confirm that the position board is properly mounted using the device manager An error occurred in the CreateSemaphore function Win32API Call the GetLastError function of Win32API and confirm the error details Confirm the board ID selection dip switch of the position board SSC FUNC ERR UNSUPPORT DEVICE DRIVER The device driver is not a supported version Use a API library that combines with the device driver contained in the utility software Point Call each function after calling the sscOpen function which corresponds to the used board ID Supported version Ver Header file Ver 1 00 mc2xxstd h Reference sscClose 4 FUNCTION DETAILS 4 2 2 sscClose The memory access port will
136. eout time timeout is not checked Instead this function infinitely waits until the multiple interrupt events occur When the multiple interrupt events occurred simultaneously the smallest event factor will be stored 4 158 4 FUNCTION DETAILS Supported version API Ver Header file 1 80 me2xxstd h Reference sscResetlntEventMulti sscSetIntEventMulti sscWaitlntEvent 4 159 4 FUNCTION DETAILS 4 22 13 sscResetlntOasEvent Other axes start interrupt event signal status will be nonsignaled This function is used if other axes start interrupt event occurring prior to calling up the sscWaitlntOasEvent function are to be disabled int sscResetlntOasEvent int board id int channel int axnum int oas num Argument board id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number of other axes start table 1 to 32 oas num in Other axes start table number 1 to 32 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 140 9 1 location SSC_FUNC_ERR_NOT_START_INT_DRIVER FUNC_ERR_NOT_START_INT_DRIVER The The interrupt driver is closed Call the sscintStart function driver is closed C
137. eparation until the position board receives the signal after the start operation is requested SSC_FUNC_ERR_NOW_DRIVING During operation A system error E h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause and remove the cause function and remove the cause During the confirmation of response after executing the command to the position board the timeout time 1 second has elapsed Point The response is not confirmed after the fast start operation signal FST is turned on Supported version API Ver Header file 1 00 me2xxstd h Reference sscDriveStop sscDriveStopNoWait sscDriveRapidStop sscDriveRapidStopNoWait 4 FUNCTION DETAILS 4 9 7 sscLinearStart Linear interpolation will be started After performing the necessary settings for operation and changing to linear interpolation mode the fast start operation signal FST will be turned on int sscLinearStart int board_id int channel int axnum int grpnum int point_s int point_e Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Primary axis number 1 to 32 grpnum in Group number 1 to 8 point_s in Start point number 0 to 319 point_e in End point number 0 to 319 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError
138. er 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 position in Amount of incremental feed movement after change command unit 2147483647 to 2147483647 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 7 1 to 9 Argument location SSC FUNC ERR MISMATCH DRIVE MODE The operation mode is other than the Incremental feed SSC FUNC ERR NOW ALARM SYSTEM A system error E h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC FUNC ERR TIMEOUT 0 During the confirmation of response after executing the command to the 1 to 2 Timeout location position board the timeout time 1 second has elapsed SSC FUNC ERR STS BIT PCE The position change error signal PCE turned on SSC FUNC ERR CHG POS DIR The movement direction differs between before and after the position change Point None Supported version Ver Header file 1 00 mo2xxstd h Reference sscChangeManualSpeed sscChangeManualAccTime sscChangeManualDecTime 4 FUNCTION DETAILS 4 10 2 sscChangeAutoPosition The automatic operation position will be changed The positio
139. er 1 axnum in Axis number 1 to 32 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR NOT START INT DRIVER The interrupt driver is closed Call the ssclntStart function SSC FUNC ERR RESET EVENT An error occurred in the ResetEvent function Win32API Call the GetLastError function of Win32API and confirm the error details Point None Supported version API Ver Header file Ver 1 02 medxxstd h Reference sscWaitlntDriveFin 4 167 4 FUNCTION DETAILS 4 22 20 sscSetlntDriveF in Operation completion interrupt event status will be signaled This function is used to release the standby status with the sscWaitlntDriveFin function at the timing of the user program not the interrupt event of the position board int sscSetIntDriveFin int board id int channel int axnum Argument board id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause count
140. er file Ver 1 60 me2xxstd h Reference sscGetPressData 4 FUNCTION DETAILS 4 8 2 sscGetPressData The continuous operation to torque control data will be got int sscGetPressData int board_id int channel int axnum PRESS_DATA pPressData Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 pPressData out Pointer to 32 byte structure 32 bytes x 1 which stores the continuous operation to torque control data Refer to 5 3 PRESS_DATA structure for the continuous operation to torque control data structure Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 60 mc2osstd n Reference sscSetPressData 4 FUNCTION DETAILS Egg EEE e SaaS tr zz zs m 4 9 Operating functions 4 9 1 sscJogStart JOG operation will be started After performing the necessary settings for operation and changing to JOG operation mode the start operation signal ST will be turned on int sscJogStart int board_id int channel int axnum long speed short actime short dctime ch
141. ermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point Set the latest command point number to the value of the point number 1 Supported version Ver Header file Ver 1 80 me2xxstd h Reference sscAutoStart sscSetPointDataEx 4 FUNCTION DETAILS 4 8 Continuous operation to torque control data functions 4 8 1 sscSetPressData The continuous operation to torque control data stored in the structure variable designated by the pointer will be set int sscSetPressData int board_id int channel int axnum PRESS_DATA pPressData Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 pPressData in Pointer to 32 byte structure 32 bytes x 1 which stores the continuous operation to torque control data Refer to 5 3 PRESS_DATA structure for the continuous operation to torque control data structure Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point check of the set continuous operation to torque control data contents will not be performed Supported version Ver Head
142. ermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR NOT START INT DRIVER The interrupt driver is closed Call the ssclntStart function SSC FUNC ERR SET EVENT An error occurred in the SetEvent function Win32API Call the GetLastError function of Win32API and confirm the error details Point When the standby status is released by calling this function an error occurs the sscWaitIntDriveFin function Supported version API Ver Header file 1 02 mc2xxstd h Reference sscWaitlntDriveFin 4 168 4 FUNCTION DETAILS ug M pp LL LL 4 22 21 sscWaitlntDriveFin This function waits until the operation completion interrupt event status becomes signaled This function is used to wait for the interrupt from the position board for the designated operation completion type The checked status will be stored in the variable designated by the pointer int sscWaitlntDriveFin int board id int channel int axnum int fin type int fin status int timeout Argument board id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 fin type in Operation completion type fin status out Pointer to 4 byte variable 4 bytes x 1 which stores the completion of operation status SSC FIN STS STP Completion of operation SSC FIN STS MOV During operation SSC FIN S
143. error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location SSC_FUNC_ERR_TIMEOUT_01 During the confirmation of response after executing the command to the position board the timeout time 1 second has elapsed Point The response is not confirmed after the other axes start cancel signal OSSTPL is turned on To confirm the other axes start status call the sscGetOtherAxisStartStatus function Supported version API Ver Header file 1 00 me2xxstd h Reference sscOtherAxisStartAbortOff sscGetOtherAxisStartStatus 4 FUNCTION DETAILS 4 15 4 sscOtherAxisStartAbortOff The other axes start cancel signal OSSTPLI will be turned off and the other axes start will be canceled int sscOtherAxisStartAbortOff int board id int channel int oas num Argument board id in Board ID number 0 to 3 channel in Channel number 1 oas num in Other axes start table number 1 to 32 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location
144. essateeees 4 141 4 21 14 ssclfmGetEventStatusBlits arenarum nette eed reden dade dd ae 4 142 4 22 Interrupt f nctloris noie dp rin Do tup ORE aad DORUM RA TREO 4 144 4 22 1 sselhntotart nn mn Hanni xti ER Inn 4 146 4 22 2 55 c oot Le eh ata tee ce a 4 147 422 3 SSCINTE Nabble enden ni ai eret ere cauia er 4 148 4 22 4 SsclntDisable Reda e ptt aide mud 4 149 4 22 5 sscRegisterlntCallback essent 4 150 4 22 6 sscUnregisterIntCallback eec cient 4 151 422 1 SscResetlntEVent iiie n e to te ton foe fcn tatto fat 4 152 4 22 8 sscSetlntEvent 4 153 4 22 9 55 1 0 Event ene eer 4 154 42210 56 56 4 156 4 22 1 1 sscSetintEventMultivec cn ei ara he eed wean 4 157 4 22 12 sscWaitINtE 4 158 4 2213 sscResetlntOasEVvent RI 4 160 4 22 14 sscSetIntOasEvent tte teet late 4 161 4 22 15 55 4 162 4 22 16 sscResetlntPassPositlon eie ned ee brem eee dbi aaa 4 164 4 22 17 sscSetlntPassPosition opra a a a a a E
145. estBuffer int board_id int channel int axnum short bufnum long bufdata Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 bufnum out Pointer to 2 byte variable 2 bytes x 1 which stores the latest command buffer number bufdata out Pointer to 2 byte variable 2 bytes x 1 which stores the latest command buffer data Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 7 1 to 9 Argument location Point When a NULL pointer is designated as the latest command buffer data only the latest command buffer number will be got For API Ver 1 60 or later use the ssclfmCheckLatestBufferEx function Supported version Ver Header file Ver 1 50 mc2xxstd h Reference ssclfmGetTransmitBuffer 4 135 4 FUNCTION DETAILS 4 21 8 ssclfmCheckLatestBufferEx Latest command buffer number and latest command buffer data for the designated control mode will be got int ssclfmCheckLatestBufferEx int board id int channel int axnum unsigned short mode short bufnum long bufdata Argument board id in Board ID number 0 to 3 channel in Channel numbe
146. etween each unit or the encoder cable while the power is ON Securely tighten the cable connector fixing screws and fixing mechanisms Insufficient fixing may lead to the cables coming off during operation Do not bundle the power line or cables 5 Trial operation and adjustment NCAUTION Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine Extreme adjustments and changes may lead to unstable operation so never make them When using the absolute position system function on starting up and when the position board or absolute position motor has been replaced always perform a home position return Before starting test operation set the parameter speed limit value to the slowest value and make sure that operation can be stopped immediately by the forced stop etc if a hazardous state occurs 6 Usage methods Z CAUTION Immediately turn OFF the power if smoke abnormal sounds or odors are emitted from the position board servo amplifier or servo motor Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized Do not make any modifications to the unit Keep the effect or electromagnetic obstacles to a minimum by installing
147. firm the error details 00022010h SSC_FUNC_ERR_CREATE_EVENT An error occurred in the CreateEvent function Win32API Call the GetLastError function of Win32API and confirm the error details 0002201 1h SSC FUNC ERR DELETE EVENT An error occurred in the CloseHandle function Win32API Call the GetLastError function of Win32API and confirm the error details 00022012h SSC FUNC ERR RESET EVENT An error occurred in the ResetEvent function Win32API Call the GetLastError function of Win32API and confirm the error details 00022013h SSC FUNC ERR SET EVENT An error occurred in the SetEvent function Win32API Call the GetLastError function of Win32API and confirm the error details 00022014h SSC FUNC ERR WAIT EVENT An error occurred in the WaitForSingleObject function Win32API Call the GetLastError function of Win32API and confirm the error details 00022015h SSC FUNC ERR WAIT EVENT MULTI An error occurred in the WaitForMultipleObjects function Win32API Call the GetLastError function of Win32API and confirm the error details 00022020h SSC FUNC ERR CREATE THREAD An error occurred in the CreateThread function Win32API Call the GetLastError function of Win32API and confirm the error details 00022021h SSC FUNC ERR DELETE THREAD An error occurred in the CloseHandle function Win32API Call the GetLastError function of Win32API and confirm the error details 00022022h SSC FUNC ERR THREAD PRIORITY An error occurred
148. for obtaining system information Host controller Position board SES NER Ja ae RE ee l cueste cec nias I Example Starts the monitoring short monnum set 2 0x0401 0x0402 T sts sscSetMonitor bid ch 0 amp monnum set 0 i if sts SSC error process bee ae ee eee ae ere Sie ee eS ee eee ee ee Lao See Se See eee ee m ms eee em eem Rm merum mem em ee eee eer Se ee ee PS aaa ann nn pomum memo dece nee Se Seek Se eel ee eee oe ee Sends the Example b lt short monnum get 2 mondat 2 monitoring data sts sscGetMonitor bid ch 0 amp monnum_get 0 amp mondat 0 if sts SSC_OK Monitoring data can be y _ error process obtained as many times as necessary during the period lt Stops monitoring Processes the monitoring i Example Stops the monitoring sts sscStopMonitor bid ch 0 if sts SSC_OK error process a Sana ja SaaS a ig ae ee es ee ae all I i Example Starts the monitoring short 641 0x0200 0x0201 0x0202 0x0203 i sts sscSetMonitor bid ch ax amp monnum set 0 if sts SSC OK f error process
149. function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR NOW DRIVING READY During operation startup preparation until the position board receives the signal after the start operation is requested SSC FUNC ERR NOW DRIVING During operation SSC FUNC ERR NOW ALARM SYSTEM A system error E h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause and remove the cause function and remove the cause SSC FUNC ERR TIMEOUT 01 During the confirmation of response after executing the command to the position board the timeout time 1 second has elapsed Point The response is not confirmed after the fast start operation signal FST is turned on Supported version Ver Header file 1 00 mo2xxstd h Reference sscDriveStop sscDriveStopNoWait sscDriveRapidStop sscDriveRapidStopNoWait 4 52 4 FUNCTION DETAILS 4 9 8 sscDataSetStart Home position reset data set will be started After performing the necessary settings for the operation and changing to home position reset data set mode the fast start operation signal FST will be turned on int sscDataSetStart int board_id int channel int axnum Argument board_id in Board ID number 0 to 3 channel in Channel number 1
150. ge error signal TACE will be confirmed to be on int sscChangeManualAccTime int board_id int channel int axnum short acctime Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 acctime in Manual feed speed acceleration time constant after change ms 0 to 20000 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR MISMATCH DRIVE MODE The operation mode is other than the JOG operation or Incremental feed SSC FUNC ERR TIMEOUT 0 During the confirmation of response after executing the command to the SSC FUNC ERR STS BIT TACE The acceleration time constant change error signal TACE turned on Point SSC FUNC ERR NOW ALARM SYSTEM A system error E h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause 1 to 2 Timeout location position board the timeout time 1 second has elapsed None Supported version Ver Header file 1 00 me2xxstd h Reference sscChangeManualPosition sscChangeManualSpeed sscChangeManualDecTime 4 FUNCT
151. gisters the interrupt callback function 4 22 6 4 22 11 Waits until the statuses of the multiple interrupt events become sscWaitlntEventMulti 3 4 22 12 signaled Interrupt Sets the status of the other axes start interrupt event to sscResetlntOasEvent 4 22 13 Functions nonsignaled sscSetlntOasEvent Sets the status of the other axes start interrupt event to signaled 4 22 14 Waits until the status of the other axes start interrupt event sscWaitIntOasEvent 4 22 15 becomes signaled sscResetintPassPosition Sets the status of the pass position interrupt event to nonsignaled 4 22 16 sscSetintPassPosition Sets the status of the pass position interrupt event to signaled 4 22 17 un Waits until the status of the pass position interrupt event becomes sscWaitlntPassPosition signaled 4 22 18 i 22 Sets the status of the operation completion interrupt event to sscResetintDriveFin 2 4 22 19 nonsignaled Sets the status of the operation completion interrupt event to sscSetlntDriveFin signaled 4 22 20 i i Waits until the status of the operation completion interrupt event sscWaitlntDriveFin 4 22 21 becomes signaled O Device Functions 4 23 4 4235 4 23 6 Transient n Sends and receives the specified transient transmit data for axes Transmit sscSendReceiveTransientData 4 24 1 or stations connected to SSCNET Functions 4 FUNCTION DETAILS 4 API FUNCTION DETAILS 4 1 Support functio
152. h stores the status of bit device SSC_BIT_OFF Input signal OFF SSC_BIT_ON Input signal ON Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 80 mc2xxstd h Reference sscGetlnputDeviceWord 4 171 4 FUNCTION DETAILS 4 23 2 sscGetlnputDeviceWord Gets the designated input word device in 1 word basis int sscGetInputDeviceWord int board id int channel int word num int word cnt unsigned short dev in Argument board id in Board ID number 0 to 3 channel in Channel number 1 word num in Input word device number 0000h to OOFFh word cnt in Word points from the input word device number 0001h to 0100h dev in out Pointer to the array 2 bytes x word cnt which stores the status of input word device Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location
153. he parameter write data for 2 correspond data Point This function can write the parameters either before or while the system is running change only 1 parameter set 0 in the other parameters It takes about 2 to 10 control cycles to write two parameters because of the time it takes to confirm the response of the position board When a number of parameters are written to multiple axes sequentially the writing time can be shortened by calling this function in each thread of system or axis Supported version API Ver Header file Ver 1 80 mc2osstd h Reference sscChangeParameter sscCheckParameter sscCheck2Parameter 4 FUNCTION DETAILS 4 4 4 sscCheckParameter The set value of the designated parameter will be read int sscCheckParameter int board_id int channel int axnum short prmnum short prmdata Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 4 to 32 0 System parameter 1 to 32 Axis parameter 4 to 1 Station parameter 1 Station 1 2 Station 2 3 Station 3 4 Station 4 prmnum in Parameter read number prmdata out Pointer to 2 byte variable 2 bytes x 1 which stores the parameter read data Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function
154. igitalOutputDataWord The DO data of the designated digital output will be set in 16 point basis int sscSetDigitalOutputDataWord int board_id int channel int dout_word_num unsigned short dout Argument board_id in Board ID number 0 to 3 channel in Channel number 1 dout_word_num in Digital output word number 0 to 63 dout in 0000h to FFFFh DO data of the digital output 0 Output OFF 1 Output ON for each bit bito gt DO 0100 bit15 gt Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 7 1 to 9 Argument location SSC FUNC ERR TIMEOUT 00 During the confirmation of response after executing the command to the O 1 to 5 Timeout location postion board the timeout time 1 second has elapsed Point This function sets the digital output with the exclusive control function of the position board Supported version Ver Header file Ver 1 02 me2xxstd h Reference sscSetDigitalOutputDataBit sscGetDigitalOutputDataWord 4 121 4 FUNCTION DETAILS 4 19 5 sscGetDigitalOutputDataBit The DO data of the designated digital output will be got in 1 point basis int sscGetDigitalOutputDataBit
155. ile Ver 1 50 mc2xxstd h Reference None 4 131 4 FUNCTION DETAILS 4 21 4 ssclfmGetMaximumBufferNumberEx The maximum buffer number for the designated control mode will be got int ssclfmGetMaximumBufferNumberEx int board_id int channel int axnum unsigned short ctrl mode short bufnum Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 ctrl_mode in Control mode 0 to 2 Operation mode SSC_IFM_CTRL_MODE_POSITION Position control mode SSC_IFM_CTRL_MODE_SPEED Speed control mode SSC_IFM_CTRL_MODE_TORQUE Torque control mode bufnum out Pointer to 2 byte variable 2 bytes x 1 which stores the maximum buffer number Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 60 mc2xxstd h Reference None 4 132 4 FUNCTION DETAILS 4 21 5 ssclfmRenewLatestBuffer Latest command buffer number and data for position control mode will be renewed and the renewed latest command buffer number will be got int ssclfmRenewLatestBuffer int board_id int channel
156. in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 4 to 32 0 System alarm 1 to 32 Axis alarm 4 to 1 Station alarm 1 Station 1 2 Station 2 3 Station 3 4 Station 4 alarm_type in Alarm type SSC_ALARM_SYSTEM System alarm SSC_ALARM_SERVO SSC_ALARM_OPERATION Operation alarm SSC_ALARM_UNIT RIO module alarm SSC_ALARM_UNIT_CTRL RIO control alarm Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 to 9 Argument location A system error E h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC FUNC ERR TIMEOUT 00 An alarm which cannot be reset occurred Take proper countermeasures O 1 to 2 Timeout location after confirming the cause of the alarm SSC FUNC ERR ARGUMENT MISMATCH The axis number and the alarm type do not correspond Example When is set to the axis number and SSC ALARM OPERATION is set to the alarm type etc Point None 4 FUNCTION DETAILS Supported version API Ver Header file Ver 1 80 me2xxstd h Reference sscGetAlarm 4 FUNCTION DETAILS 4 12 General monitor functions 1 Processing procedure a Example of general monitor processing procedure
157. in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 4 to 32 0 System monitor 1 to 32 Axis monitor 4 to 1 Station monitor 1 Station 1 2 Station 2 3 Station 3 4 Station 4 monnum out Pointer to 8 byte array 2 bytes x 4 which stores the monitor numbers mondata out Pointer to 8 byte array 2 bytes x 4 which stores the monitor data Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location SSC_FUNC_ERR_NOT_START_MONITOR The monitor has not been started Point For the system monitor the third and fourth monitor number and monitor data are not stored obtain a current command position current feedback position external signal status moving speed feedback moving speed electrical current feedback use high speed monitor functions to obtain the data quickly Supported version API Ver Header file Ver 1 80 mc2osstd n Reference sscSetMonitor 4 FUNCTION DETAILS 4 13 High speed monitor functions 4 13 1 sscGetCurrentCmdPositionFast The current command position will be got int sscGetCurrentCmdPositionFast int board_id int channel int axnum long posit
158. ing cases 1 A failure caused by your improper storing or handling carelessness or negligence etc and a failure caused by your hardware or software problem 2 A failure caused by any alteration etc to the Product made on your side without our approval 3 A failure which may be regarded as avoidable if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry 4 A failure which may be regarded as avoidable if consumable parts designated in the instruction manual etc are duly maintained and replaced 5 Any replacement of consumable parts battery relay fuse etc 6 A failure caused by external factors such as inevitable accidents including without limitation fire and abnormal fluctuation of voltage and acts of God including without limitation earthquake lightning and natural disasters 7 A failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company 8 Any other failures which we are not responsible for or which you acknowledge we are not responsible for 2 Onerous Repair Term after Discontinuation of Production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for e
159. ion board the timeout time 10 second has elapsed SSC FUNC ERR STS FUNC_ERR_STS_BIT_RCE The reconnection error The reconnection error RCE occurred occurred Point For the Error code of reconnection disconnection refer to MR MC210 MR MC211 MR MC240 MR MC241 Position Board User s Manual Details Supported version API Ver Header file Ver 1 80 me2xxstd h Reference sscDisconnectSSCNET 4 FUNCTION DETAILS 4 5 5 sscDisconnectSSCNET SSCNET communication which is connected to the slave devices in SSCNET communication such as servo amplifiers set by the disconnection axis number or later will be disconnected int sscDisconnectSSCNET int board_id int channel int com_num unsigned long long ctrl axbit unsigned short err code Argument board id in Board ID number 0 to 3 channel in Channel number 1 com num in Disconnection axis number 4 to 32 1 to 32 Axis number 4 to 1 Station number 1 Station 1 2 Station 2 3 Station 3 4 Station 4 ctrl_axbit out Pointer to 8 byte variable 8 bytes 1 which stores the controlling axis information bit 0 to 00000000FFFFFFFFh bitO Axis 1 bit Axis 2 bit31 Axis 32 bit56 Station 1 bit57 Station 2 bit58 Station 3 bit59 Station 4 err code out Pointer to 2 byte variable 2 bytes x 1 which stores the error code of reconnection disconnection Return value SSC O
160. ion Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 position out Pointer to 4 byte variable 4 bytes x 1 which stores the current command position Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location Point The position board High speed monitor function is used to get the current command position Supported version API Ver Header file 1 00 me2xxstd h Reference sscGetCurrentFbPositionFast 4 FUNCTION DETAILS 4 13 2 sscGetCurrentFbPositionFast The current feedback position will be got int sscGetCurrentFbPositionFast int board_id int channel int axnum long position Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 position out Pointer to 4 byte variable 4 bytes x 1 which stores the current feedback position variable Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure
161. ith sscResetAllParameter function a Example of parameter processing procedure for setting the system parameters Host controller Position board ae i ea ee ee HO Processes the lt Sets the parameters parameters EE EPIDEMIC es ee Wisse a ee ee eee 1 Example i lt Completes the sts sscChangeParameter bid ch 0 prm num prm dat parameter settings if sts SSC_OK error process Processes the Confirms the parameter settings as necessary parameters Example Fee B Sends the parameter sts sscCheckParameter bid ch 0 prm num amp prm dat 4 setting value if sts SSC_OK error process b Example of parameter processing procedure for setting the control servo parameters Host controller Position board Se eee eS St Se es uam Processes the lt Sets the parameters gt parameters Example Completes the sts sscChangeParameter bid ch prm num prm dat parameter settings if sts 1 SSC OK error process lt Confirms the parameter settings as necessary S BEN AOE te eh EEE 1 Example Sends parameter setting value sts sscCheckParameter bid ch ax prm num amp prm dat 1 55 SSC OK error process
162. lfmSetHomePosition Home position will be set and after completion home position multiple revolution data parameter No 024D and home position within 1 revolution position parameter No 024E parameter No 024F will be got int ssclfmSetHomePosition int board_id int channel int axnum int mode short param Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 mode in In position signal check mode 0 to 1 SSC_IFM_CHK_INP_WAIT Waits until the in position signal is ON SSC_IFM_CHK_INP_NOWAIT Does not wait until the in position signal is ON param out Pointer to 6 byte array 2 bytes x 3 which stores the home position data o0___ Home position multiple revolution data parameter No 024D 1 Home position within 1 revolution position parameter 024 2 Home position within 1 revolution position parameter 024 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 to 9 Argument location A system error ELTETLIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC ERR TIMEOUT 0 During the confirmation of response after executing the command to
163. mand to the position board the designated timeout time has elapsed Confirm that the SSCNETII cable on the position board side is connected properly Or the SSCNET communication method is not correct SSC FUNC ERR NOW ALARM SYSTEM A system error E h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause Point When a value 10 seconds 10000ms or less is designated as the timeout time the timeout will be 10 seconds 10000ms Reboot when restarting the system Supported version Ver Header file 1 00 medxxstd h Reference None 4 FUNCTION DETAILS E EN 4 5 3 sscGetSystemStatusCode The system status code will be got int sscGetSystemStatusCode int board_id int channel short statuscode Argument board_id in Board ID number 0 to 3 channel in Channel number 1 statuscode out Pointer to 2 byte variable 2 bytes x 1 which stores the system status code SSC_STS_CODE_READY_FIN System preparation completion SSC STS CODE RUNNING System running Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error codes Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location Point For the sys
164. med needs to be switched in advance use this function to check the operation mode Supported version API Ver Header file Ver 1 00 mc2osstd n Reference sscSetDriveMode sscSetOtherAxisStartData 4 FUNCTION DETAILS E ENY 4 9 15 sscGetDriveFinStatus The completion of operation status will be got int sscGetDriveFinStatus int board_id int channel int axnum int fin_type int fin_status Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 fin_type in Operation completion type fin_status out Pointer to 4 byte variable 4 bytes x 1 which stores the of operation status SSC_FIN_STS_RDY Before start up acceptance SSC_FIN_STS_STP Completion of operation Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location 4 FUNCTION DETAILS See Point When the operation completion type is set to Stop by rough match in other than the automatic operation and the linear interpolation the completion of operation confirmation type is judged by the Smoothing stop unconditionally When the operation completion type i
165. moved The high voltage terminal and charged sections will be exposed and may lead to electric shocks Never open the front case or terminal cover of the servo amplifier at times other than wiring work or periodic inspections even if the power is OFF The insides of the position board and servo amplifier are charged and may lead to electric shocks Completely turn off the externally supplied power used in the system before mounting or removing the position board performing wiring work or inspections Failing to do so may lead to electric shocks When performing wiring work or inspections turn the power OFF wait at least ten minutes and then check the voltage with a tester etc Failing to do so may lead to electric shocks Be sure to ground the controller incorporating the position board servo amplifier and servo motor Ground resistance 100 or less Do not ground commonly with other devices The wiring work and inspections must be done by a qualified technician Wire the units after installing the position board servo amplifier and servo motor Failing to do so may lead to electric shocks or damage Never operate the switches with wet hands as this may lead to electric shocks Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to electric shocks Do not touch the position board servo amplifier or servo motor terminal blocks while the power is ON as this may lead
166. n SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location GetLastError function of Win32API and confirm the error details event factor was being confirmed for the designated event factor was being confirmed While the interrupt for the designated event factor was being waited the designated timeout time elapsed SSC FUNC ERR SET HOST APPLICATION EVENT While the interrupt for the designated event factor was being waited a function which releases the standby status was called from the user program 4 154 4 FUNCTION DETAILS Point When SSC INFINITE is designated as the timeout time timeout is not checked Instead this function infinitely waits until the interrupt event occurs Supported version Ver Header file Ver 1 80 mc2osstd h Reference sscResetlntEvent sscSetIntEvent sscWaitlntEventMulti 4 155 4 FUNCTION DETAILS 4 22 10 sscResetintEventMulti Multiple interrupt event signal status will be nonsignaled This function is used if multiple interrupt events occurring prior to calling up the sscWaitIntEventMulti function are to be disabled int sscResetintEventMulti int board_id int channel int axnum Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis numbe
167. n being performed During reconnection processing Log data initialization is During disconnection SSC STSBIT SYS LOGIF SSC STSBIT SYS CCO complete processing SSC STSBIT SYS LOGIE Log data initialization error SSC STSBIT SYS CCF Disconnection complete During operation cycle monitor SSC STSBIT SYS OCMCO dear SSC_STSBIT_SYS_CCE Disconnection error SSC_STSBIT_SYS_OCME Operation cycle alarm SSC_STSBIT_SYS_95 R d eserve SSC STSBIT SYS OCMW Operation cycle warning SSC STSBIT SYS 96 SSC STSBIT SYS 97 SSC STSBIT SYS 98 SSC STSBIT SYS 99 SSC STSBIT SYS 100 SSC STSBIT SYS 101 SSC STSBIT SYS 102 SSC STSBIT SYS 103 SSC STSBIT SYS 104 SSC STSBIT SYS 113 SSC STSBIT SYS 114 SSC STSBIT SYS 115 SSC STSBIT SYS 116 SSC STSBIT SYS 117 RN SSC STSBIT SYS 118 SSC STSBIT SYS 119 SSC STSBIT SYS 120 6 BIT DEFINITION LIST Bit number constant Bit number constant SSC STSBIT SYS SPWED1 SSC STSBIT SYS SPRFIN2 SSC STSBIT SYS 132 SSC STSBIT SYS SPREN2 SSC STSBIT SYS PWFIN2 Parameter write complete 2 SSC STSBIT SYS 141 SSC STSBIT SYS PWEN2 Parameter number error 2 SSC STSBIT SYS 142 Reserved SSC STSBIT SYS PWED2 Parameter data out of bounds 2 SSC STSBIT SYS 143 SSC STSBIT SYS 136 SSC STSBIT SYS 144 Bit number constant Bit number constant SSC STSBIT SYS SWFIN Sampling setting write complete SSC STSBIT SYS 153 SSC STSBIT SYS SWEN Sampling setting number error SSC STSBIT SYS 154
168. n change signal PCHG will be turned on and the completion of preparation for changing position signal PCF or the position change error signal PCE will be confirmed to be on int sscChangeAutoPosition int board_id int channel int axnum int pntnum long position Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 pntnum in Point number 0 to 319 position in Position data after change Command unit Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location SSC_FUNC_ERR_MISMATCH_DRIVE_MODE The operation mode is other than the Automatic operation SSC_FUNC_ERR_POINT_NUMBER_OVER Designated point number point number offset value exceeded the point table range SSC_FUNC_ERR_NOW_ALARM_SYSTEM A system error h occurred Get the system status code with the function and remove the cause SSC_FUNC_ERR_TIMEOUT_00 During the confirmation of response after executing the command to the 1 to 2 Timeout location position b board the timeout time second has elapsed Point None Supported version API Ver Header file 1 00 me2
169. n number after the pass position condition completion The canceled pass position condition number will be stored in the executing pass position condition number after the pass position condition incompletion Supported version Ver Header file Ver 1 02 me2xxstd h Reference None 4 101 4 FUNCTION DETAILS 4 17 Sampling functions 4 17 1 sscStartSampling Sampling will be started The sampling start signal SMPS will be turned on int sscStartSampling int board_id int channel Argument board_id in Board ID number 0 to 3 channel in Channel number 1 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR ALREADY START SAMPLING The sampling start signal SMPS is ON Stop the sampling with the sscStopSampling function Point The response is not confirmed after the sampling start signal SMPS is turned on Supported version API Ver Header file 1 00 me2xxstd h Reference sscStopSampling sscSetSamplingParameter sscGetSamplingStatus 4 102 4 FUNCTION DETAILS 4 17 2 sscStopSampling Sampling will be stopped The sampling start signal SMPS will b
170. nel in Channel number 1 axnum in Axis number 1 to 32 driving_pnt out Pointer to 2 byte variable 2 bytes x 1 which stores the operation point number Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR MISMATCH DRIVE MODE The operation mode is other than the automatic operation or linear interpolation Point The got operation point number is stored after 1 is added When the operation is stopped 0 will be stored Supported version API Ver Header file 1 00 mc2xxstd h Reference None 4 FUNCTION DETAILS 4 7 6 sscSetLatestPointNumber Sets the latest command point number Used in point table loop method int sscSetLatestPointNumber int board_id int channel int axnum short latest_point Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 latest_point in Latest command point number 1 to 320 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause count
171. nfirmation of response after executing the command to the position 1 to 2 Timeout location board the timeout time 1 second has elapsed SSC FUNC ERR STS BIT ALHRE The alarm history read error signal ALHRE is turned on Point Check the got checksum with a user program Supported version API Ver Header file Ver 1 50 mc2xxstd h Reference sscClearAlarmHistoryData 4 115 4 FUNCTION DETAILS 4 18 8 sscCheckAlarmHistoryEventNum The number of valid alarm history data events recorded in the alarm history data will be got int sscCheckAlarmHistoryEventNum int board_id int channel int eventnum Argument board_id in Board ID number 0 to 3 channel in Channel number 1 eventnum out Pointer to 4 byte variable 4 bytes x 1 which stores the number of valid alarm history data events Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code SSC_FUNC_ERR_UNSUPPORT_ALH Alarm history function is not supported SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 me2xxstd h Reference None 4 116 4 FUNCTION DETAILS 4 18 9 sscClearAlarmHistoryData Clears initializes alarm hi
172. ng operation signal OP is OFF After the during operation signal OP is confirmed to be OFF the stop operation signal STP will be turned off int sscDriveStop int board_id int channel int axnum int timeout Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 timeout in Timeout time ms 0 to 65535 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location O 1 to 2 Timeout location position board the designated timeout time has elapsed A system error E OOO h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause Point When 0 is designated as the timeout time the timeout will be 20 seconds 20000ms Supported version API Ver Header file 1 00 me2xxstd h Reference sscDriveStopNoWait sscDriveRapidStop sscDriveRapidStopNoWait 4 FUNCTION DETAILS GE EN 4 9 10 sscDriveStopNoWait The operations will be stopped The stop signal STP is turned on and the stop complete status is returned int sscDriveStopNoWait int board_id int channel int axnum short stpsts Argument board_id in
173. nge O 1 to 9 Argument location SSC FUNC ERR ALREADY START INT DRIVER The interrupt driver has already been started up SSC FUNC ERR INT DISABLE MASK The interrupt output mask selection dip switch is valid An error occurred in the CreateEvent function Win32API Call the GetLastError function of Win32API and confirm the error details An error occurred in the CreateThread function Win32API Call the GetLastError function of Win32API and confirm the error details SSC FUNC ERR THREAD PRIORITY An error occurred in the SetThreadPriority function Win32API Call the GetLastError function of Win32API and confirm the error details SSC FUNC ERR RESUME THREAD An error occurred in the ResumeThread function Win32API Call the GetLastError function of Win32API and confirm the error details SSC FUNC ERR CLEAR INT The writing of the interrupt signal clear register is failed SSC FUNC ERR ALREADY OTHER PROCESS INT The interrupt driver has already been started up in other processing SSC FUNC ERR DEVICE DRIVER An error occurred with a call of the device driver Point The interrupt driver priority number is set using the SetThreadPriority function Win32 API Refer to the reference manual for operating system for details about the priority set values After calling up this function interrupt should be enabled using the ssclntEnable function Supported version Ver Header file Ver 1 00 me2xxstd h Reference sscint
174. nnnnnnnnnnnnnnnnnnnsnnnnnnsnnnnnsssannnnn 4 7 43 1 sscGetGontrolOycle 5 eee eene on aet or etie or ete Pu or ne e ult or ne e PER ERR 4 7 4 3 2 SscGetBoardVersion 5 ehh aua Melee thn a editt ee tite Dede ee ca 4 8 4 3 3 8ScGetDriverVersion as o pu Inu 4 9 4 3 4 5 4 10 4 3 5 nnne 4 11 4 4 Parameter 5 ERE ttn see eee 4 12 4 4 T sscResetAllParameter eis Wiad Ril alent wi Bin a el alk 4 13 4 4 2 sscChangeParameter cccecceecceecceescteceeeccneaneecetecensaceeceesaeteneesaensaaesaeseaessaenecassaeseaeeacseaateaeteaeteentes 4 14 4 4 3 SscChange2Paratmeter 4 16 4 4 4 55 te t oett tfft ditte citm 4 18 4 4 5 SSCCHECK2ZPArAMEHEL ccccsessscccessessecesssseeesssscecesssseecesssseeessusseeesaaseesseseeeeseeaseeesaeaseessuseesseseessnsees 4 20 4 4 6 sscLoadAllParameterFromFlaShROM ccccccccsssscecessecceceseseeeecesseeecesaeeesesseeeeseaeeeeesaeeeseseeeeeaes 4 22 4 4 7 sscSaveAllParameterTOFIASHROM cccccccsccccsssscccssseeeeeecssaeececsseeeecesseeeecssaeeesessaeeeseseeeeseseeessaes 4 23 4 4 8 sscCheckSvPrmChange
175. ns 4 1 1 sscGetLastError For each function if an error occurs return value is SSC_NG the detailed error codes will be got by calling up that function int sscGetLastError void Argument None Return value Latest error code 4 Detailed error code None Point When the return value is SSC_UNOPEN the detailed error code is not set Supported version API Ver Header file 1 00 me2xxstd h Reference None 4 FUNCTION DETAILS 4 1 2 sscGetMountChannel The mount channel information will be got int sscGetMountChannel int board_id short mountch Argument board_id in Board ID number 0 to 3 mountch out Pointer to 2 byte variable 2 bytes x 1 which stores the mount channel information Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point None Supported version Ver Header file 1 00 me2xxstd h Reference None 4 FUNCTION DETAILS 4 2 Device functions 1 Processing procedure An example of device processing procedure for memory access when MR MC210 Board ID 0 and MR MC210 Board ID 1 are connected to the host controller is below Ho
176. nsigned char event_code char reserve1 2 0010h unsigned char sscnet type unsigned char ctrl mode char reserve2 2 unsigned short axnum unsigned short alarm code unsigned char drive mode char reserve3 3 long cmd pos 0020h long fb pos char reserve4 27 unsigned char check sum 0040h DATA Member System time System start up time free run cnt Free run counter ctrl cycle Control cycle event code Event code sscnet type Communication mode mode Control mode axnum Error axis number alarm code Alarm number drive mode Operation mode cmd pos Current position fb pos Feedback position check sum Checksum 5 STRUCTURE LIST Point None Supported version API Ver Header file Ver 1 50 mc2xxstd h Reference sscGetAlarmHistoryData 5 STRUCTURE LIST 5 8 TRANSIENT_CMD structure This transient transmit command data structure is used for sending and receiving transient transmit data typedef struct 0000h unsigned short cmd req unsigned short command unsigned short req data 4 unsigned short reservel2 0010h TRANSIENT_CMD Member cmd_req Command send request SSC_TRANSIENT_CMD_SINGLE Transient request command Transient command req data 4
177. ntact your nearest Mitsubishi sales representative Although this product was manufactured under conditions of strict quality control you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident 10 General cautions All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections When operating the product always return the covers and partitions to the designated positions and operate according to the instruction manual REVISIONS The manual number is given on the bottom left of the back cover IB NA 0300225 A Dec 2014 IB NA 0300225 B Additional model MR MC240 MR MC241 Additional function Parameter functions sscCheckSvPrmChangeNumEx Continuous operation to torque control data functions sscSetPressData sscGetPressData Operating functions sscChangeControlMode High speed monitor functions sscGetPositionDroopFast Mark detection functions sscGetMarkDetectionData sscGetMarkDetectionCounter sscClearMarkDetectionData Interface mode functions ssclfmGetMaximumBufferNumberEx ssclfmRenewLatestBufferEx ssclfmCheckLatestBufferEx ssclfmGetTransmitBufferEx ssclfmTrqSetSpeedLimit ssclfmSetControlMode ssclfmGetControlMode PRESS DATA structure Additional correction Conditions for use bit definition s
178. o destruction or damage Do not touch the heat radiating fins of position board or servo amplifier regenerative resistor and servo motor etc while the power is ON and for a short time after the power is turned OFF In this timing these parts become very hot and may lead to burns Always turn the power OFF before touching the servo motor shaft or coupled machines as these parts may lead to injuries Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries 4 Various precautions Strictly observe the following precautions Mistaken handling of the unit may lead to faults injuries or electric shocks 1 System structure NCAUTION Always install a leakage breaker on the controller incorporating the position board and servo amplifier power source If installation of an electromagnetic contactor for power shut off during an error etc is specified in the instruction manual for the servo amplifier etc always install the electromagnetic contactor Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off Q Use the position board servo amplifier servo motor and regenerative resistor with the correct combinations listed in the instruction manual Other combinations may lead to fire or faults safety standards ex robot safety rules etc apply to the system using the position board se
179. ogData out Pointer to 256 byte structure 16 bytes x 16 which stores the log data Refer to 5 6 LOG DATA structure for the log data information structure Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location During the confirmation of response after executing the command to the 1 to 2 Timeout location position board the timeout time 1 second has elapsed The log operation being performed signal LOGO is ON The reading of log data error signal LOGRE is turned on Point None Supported version Ver Header file Ver 1 00 medxxstd h Reference sscClearLogData 4 113 4 FUNCTION DETAILS 4 18 6 sscClearLogData The log data will be cleared initialized int sscClearLogData int board_id int channel Argument board_id in Board ID number 0 to 3 channel in Channel number 1 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9
180. oint Call this function before changing to torque control mode Supported version Ver Header file Ver 1 60 mc2xxstd h Reference ssclfmSetControlMode 4 139 4 FUNCTION DETAILS 4 21 12 ssclfmSetControlMode The control mode will be set int ssclfmSetControlMode int board_id int channel int axnum unsigned short ctrl mode Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 ctrl_mode in Control mode 0 to 2 Operation mode SSC_IFM_CTRL_MODE_POSITION Position control mode SSC_IFM_CTRL_MODE_SPEED Speed control mode SSC_IFM_CTRL_MODE_TORQUE Torque control mode Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR NOW ALARM SYSTEM A system error ELTLILIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause Point It takes approximately several ms until the control mode is switched because of the time it takes to confirm the response of the servo amplifier Supported version Ver Header file Ver 1 60 mc2xxstd h Reference ssclfmGetControlMode 4 140 4
181. on 1 2 Station 2 3 Station 3 4 Station 4 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR NOT START INT DRIVER The interrupt driver is closed Call the ssclntStart function SSC FUNC ERR SET EVENT An error occurred in the SetEvent function Win32API Call the GetLastError function of Win32API and confirm the error details Point When the interrupt standby status is released by calling this function an error occurs in the sscWaitlntEventMulti function Supported version API Ver Header file Ver 1 80 mc2osstd n Reference sscWaitlntEventMulti 4 157 4 FUNCTION DETAILS 4 22 12 sscWaitlntEventMulti This function waits until the multiple interrupt event status becomes signaled This function is used to wait for the interrupt from the position board for any multiple event factors The multiple event factors which occurred will be stored in the variable designated by the pointer int sscWaitlntEventMulti int board_id int channel int axnum int timeout unsigned long eventcode Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 4 to 32 0
182. on of operation SYSE System error Unnecessary when the operation completion type Completion of operation during in position is not used Set necessary interrupt conditions only Unnecessary interrupt condition may deteriorate the performance of the user program When SSC INFINITE is designated as this timeout time timeout is not checked Instead this function infinitely waits until the event occurs When the deceleration check system is set to in position stop in the automatic operation or the linear interpolation the Operation completion type is Completion of operation by in position stop even though the smoothing stop is set Since the completion of operation status of this function is judged by the operation completion type it may differ from the during operation signal OP and the completion of operation signal OPF of the position board Supported version API Ver Header file Ver 1 00 mc2osstd n Reference sscResetlntDriveFin sscSetIntDriveFin sscGetDriveFinStatus 4 170 4 FUNCTION DETAILS E ENY 4 23 I O device functions 4 23 1 sscGetlnputDeviceBit Gets the designated input bit device in 1 point basis int sscGetlnputDeviceBit int board id int channel int bit num int dev in Argument board id in Board ID number 0 to 3 channel in Channel number 1 bit num in Input bit device number 0000h to OFFFh dev in out Pointer to 4 byte variable 4 bytes x 1 whic
183. on stop shutdown will occur after waiting for the designated conditions to be met However if an operation alarm occurs and operation is cancelled an alarm will be returned after the stop is completed In this case event waiting will use the WaitForSingleObject function Win32 API If a stop operation signal STP is input during operation the status will be Completion of operation after the stop is completed If the operation completion type is Completion of operation by rough match the status will be Completion of operation when the rough match signal CPO is ON in automatic operation mode or linear interpolation mode The rough match signal is only output during automatic operation mode and linear interpolation mode Therefore if a completion of operation check is performed when operating in a mode other than automatic operation mode or linear interpolation mode the operation completion type should be other than Completion of operation by rough match The following interrupt conditions are used for this function When using this function make sure to set an applicable interrupt condition by sscChange2Parameter INP In position Unnecessary when the operation completion type Completion of operation during in position stop is not used SALM Servo alarm CPO Rough match Unnecessary when the operation completion type Completion of operation by rough match is not used OALM Operation alarm OPF Completi
184. on succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code The argument is outside the set range 1 to 9 Argument location mode use the ssclfmSetControlMode function sscGetSystemStatusCode function and remove the cause and remove the cause function and remove the cause SSC ERR TIMEOUT 00 During the confirmation of response after executing the command to the O 1 to 2 Timeout location position board the timeout time 1 second has elapsed SSC FUNC ERR STS BIT CTLMCE The control mode switch error signal CLTMCE turned ON Point It takes approximately six control cycles 6 to 11ms to switch the control mode of the servo amplifier becuase of the time it takes to confirm the response of the position board Supported version Ver Header file Ver 1 60 me2xxstd h Reference sscSetPressData 4 FUNCTION DETAILS 4 10 Change functions 4 10 1 sscChangeManualPosition The position will be changed in the incremental feed The position change signal PCHG will be turned on and the completion of preparation for changing position signal PCF or the position change error signal PCE will be confirmed to be on int sscChangeManualPosition int board_id int channel int axnum long position Argument board_id in Board ID numb
185. ong long err dat char reserve2 4 short err bit char reserve3 2 0020h 5 ERR Member err_ax Axis error information err_dat Data error information err_bit Bit error information Point None Supported version API Ver Header file 1 00 me2xxstd h Reference sscGetSamplingError 5 STRUCTURE LIST 5 5 SMP_DATA structure This sampling data structure is used for the sampling typedef struct 0000h long smpdata 32 0080h unsigned char smpbit 2 char reserve1 2 0084h SMP_DATA Member smpdata 32 Data 1 to 32 smpbit 2 Bit information 1 to 2 Point None Supported version API Ver Header file Ver 1 00 me2xxstd h Reference sscGetSamplingData 5 STRUCTURE LIST 5 6 LOG_DATA structure This log data structure is used for the log function typedef struct 0000h short axnum short eventcode long eventtime short eventdata 4 0010h LOG DATA Member axnum Axis number eventcode Event code eventtime Time stamp eventdata 4 Information for each event Point None Supported version Ver Header file Ver 1 00 me2xxstd h Reference sscReadLogData 5 STRUCTURE LIST 5 7 ALH_DATA structure This alarm history data structure is used for the alarm history function typedef struct 0000h long long system_time unsigned long free_run_cnt unsigned char ctrl cycle u
186. or removing the position board or servo amplifier never hold the edges Install the unit according to the instruction manual in a place where the mass can be withstood Do not get on or place heavy objects on the product Always observe the installation direction Mount the position board to a connector or slot that is compatible with standards and keep the designated clearance between the position board and other boards Keep the designated clearance between the position board or servo amplifier and control panel inner surface or the position board and servo amplifier position board or servo amplifier and other devices Do not install or operate position board servo amplifiers or servo motors that are damaged or that have missing parts Do not block the intake outtake ports of the servo amplifier and servo motor with cooling fan Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the position board servo amplifier or servo motor The position board servo amplifier and servo motor are precision machines so do not drop or apply strong impacts on them Securely fix the position board servo amplifier and servo motor to the machine according to the instruction manual If the fixing is insufficient these may come off during operation Z CAUTION Always install the servo motor with reduction gears in the designated direction Failing to do so may lead to oil leak
187. other axes 4 15 1 sscGetOtherAxisStartData Gets the data for starting other axes 4 15 2 Other Axes Start Functions sscOtherAxisStartAbortOn Turns the other axes start cancel signal to ON 4 15 3 uncti sscOtherAxisStartAbortOff Turns the other axes start cancel signal to OFF 4 15 4 sscGetOtherAxisStartStatus Gets the other axes start status 4 15 5 3 LIST OF API FUNCTIONS Reference Function Type Function Name Function Content Section B Bas sscSetIntPassPositionData Sets the pass position interrupt condition data 4 16 1 ass Position Int i i sscChecklntPassPositionData Gets the pass position interrupt condition data 4 16 2 nterru sscSetStartingPassNumber Sets the pass position condition start and end numbers 4 16 3 sscGetExecutingPassNumber Gets the running pass position condition number 4 16 4 sscStartSampling Starts sampling 4 17 1 sscStopSampling Stops sampling 4 17 2 sscSetSamplingParameter Writes the sampling parameters 4 17 3 Sampling _ Functions sscGetSamplingParameter Reads the sampling parameters 4 17 4 uncti sscGetSamplingError Gets the sampling error 4 17 5 sscGetSamplingStatus Gets the sampling execution information 4 17 6 sscGetSamplingData Gets the sampling data 4 17 7 sscStartLog Starts the log 4 18 1 sscStopLog Stops the log 4 18 2 sscCheckLogStatus Gets the running status of the log 4 18 3 sscCheckLogEventNum Gets the number of valid log data events 4 18 4 Log sscReadLog
188. other axes start before the other axes start notice Other axes start notice prior error occurs The following interrupt conditions are used for this function When using this function make sure to set an applicable interrupt condition by sscChange2Parameter OASF Factor of other axes start interrupt is being sent OPF Completion of operation When SSC INFINITE is designated as this timeout time timeout is not checked Instead this function infinitely waits until the event occurs Supported version API Ver Header file Ver 1 00 2 Reference sscResetIntOasEvent sscSetlntOasEvent 4 163 4 FUNCTION DETAILS 4 22 16 sscResetlntPassPosition Pass position interrupt event status will be set to nonsignaled This function is used to disable the pass position interrupt event occurring prior to calling the sscResetlIntPassPosition function int sscResetIntPassPosition int board id int channel int pass start int pass end Argument board id in Board ID number 0 to 3 channel in Channel number 1 pass num in Pass position condition start number 1 to 64 pass num in Pass position condition end number 1 to 64 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 0
189. pleted confirm that the position detection of the absolute position detector function is correct Do not drop or impact the battery installed to the module Doing so may damage the battery causing battery liquid to leak in the battery Do not use the dropped or impacted battery but dispose of it Do not short circuit charge overheat incinerate or disassemble the batteries The electrolytic capacitor will generate gas during a fault so do not place your face near the position board or servo amplifier The electrolytic capacitor and fan will deteriorate Periodically replace these to prevent secondary damage from faults Replacements can be made by our sales representative Lock the control panel and prevent access to those who are not certified to handle or install electric equipment Do not burn or break a position board and servo amplifier Doing so may cause a toxic gas 9 About processing of waste When you discard position board servo amplifier a battery primary battery and other option articles please follow the law of each country area Z CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life When considering this product for operation in special applications such as machinery or systems used in passenger transportation medical aerospace atomic power electric power or submarine repeating applications please co
190. r 4 to 32 0 System interrupt event 1 to 32 Axis interrupt event 4 to 1 Station interrupt event 1 Station 1 2 Station 2 3 Station 3 4 Station 4 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR NOT START INT DRIVER The interrupt driver is closed Call the ssclntStart function SSC FUNC ERR RESET EVENT An error occurred in the ResetEvent function Win32API Call the GetLastError function of Win32API and confirm the error details Point None Supported version API Ver Header file Ver 1 80 mc2osstd n Reference sscWaitlntEventMulti 4 156 4 FUNCTION DETAILS 4 22 11 sscSetlntEventMulti Multiple interrupt event signal status will be signaled This function is used to release the standby status with the sscWaitIntEventMulti function at the timing of the user program not the interrupt event of the position board int sscSetintEventMulti int board_id int channel int axnum Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 4 to 32 0 System interrupt event 1 to 32 Axis interrupt event 4 to 1 Station interrupt event 1 Stati
191. r 1 axnum in Axis number 1 to 32 ctrl mode in Control mode 0 to 2 Operation mode SSC IFM CTRL MODE POSITION Position control mode SSC IFM CTRL MODE SPEED Speed control mode SSC IFM CTRL MODE TORQUE Torque control mode bufnum out Pointer to 2 byte variable 2 bytes x 1 which stores the latest command buffer number bufdata out Pointer to 2 byte variable 2 bytes x 1 which stores the latest command buffer data Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point When a NULL pointer is designated as the latest command buffer data only the latest command buffer number will be got Supported version API Ver Header file Ver 1 60 me2xxstd h Reference ssclfmGetTransmitBufferEx 4 136 4 FUNCTION DETAILS 4 21 9 ssclfmGetTransmitBuffer Transmit buffer number and transmit buffer data for position control mode will be got int ssclfmGetTransmitBuffer int board_id int channel int axnum short bufnum long bufdata Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 bufnum out Pointer to 2 byte variable 2 bytes x
192. r equal to observed axis specified position data SSC_OAS_OBSERV_DATA_MORE data_own Axis remaining distance data or axis pass position data data_observ Observed axis remaining distance data or observed axis pass position data st_axbit Start axis designation st_pnt_s Start axis start point 0 to 319 st_pnt_e Start axis end point 0 to 319 dout ctrl Digital output signal control 0 to 1 SSC OAS DO DISABLE Digital output SSC OAS DO ENABLE signal control Enable dout num Digital output signal number 00 to 3Fh dout ctrlbit Digital output signal enable selection dout data Digital output signal data Point Always set Observed axis specified position pass specification OAS OBSERV POSITION PASS when Observed axis specification is enabled SSC OAS OBSERV ENABLE Supported version Ver Header file Ver 1 02 me2xxstd h Reference sscSetOtherAxisStartData sscGetOtherAxisStartData 5 STRUCTURE LIST 5 3 PRESS DATA structure This continuous operation to torque control data structure is used for automatic operation continuous operation to torque control typedef struct 0000h long switch_position long position limit long speed limit unsigned short target torque unsigned short continue time 0010h unsigned short torque settle width unsigned short torque settle time unsigned short actime unsigned short dctime unsigned short condition char
193. rk detection disabled 2 Mark detection setting enable SSC_STSBIT_AX_MKSEF2 7 mel complete 2 aide dd 6 BIT DEFINITION LIST Bit number constant Bit number constant SSC STSBIT AX MER3 Monitor number error 3 Reserved SSC STSBIT AX 4 Monitor number error 4 Servo amplifier is not SSC STSBIT AX MESV SSC STSBIT AX 143 connected 2222 SSC STSBIT 136 SSC STSBIT AX 144 Bit number constant Bit number constant SSC STSBIT AX 145 SSC STSBIT AX 153 SSC STSBIT AX 146 SSC STSBIT AX 154 SSC STSBIT AX 147 SSC STSBIT AX 155 SSC STSBIT AX 148 SSC STSBIT AX 156 Reserved Reserved 55 5 5 149 SSC STSBIT 157 SSC STSBIT 150 SSC STSBIT AX 158 SSC STSBIT AX 151 SSC STSBIT AX 159 SSC 5 AX 152 SSC STSBIT AX 160 Bit number constant Bit number constant SSC STSBIT AX PWFIN1 Parameter write complete 1 SSC STSBIT AX PRFIN1 Parameter read complete 1 SSC STSBIT AX PWEN2 Parameter number error 2 SSC STSBIT AX 174 SSC STSBIT AX PWED2 Parameter data out of bounds 2 SSC STSBIT AX 175 Reserved Changes to servo parameters SSC STSBIT AX PSCHG e SSC STSBIT AX 176 xi uod PUE 6 BIT DEFINITION LIST SSC_STSBIT_AX_197 SSC_STSBIT_AX_198 SSC STSBIT AX 199 SSC STSBIT AX 200 Reserved Signal name Bit number constant SSC STSBIT AX 209 Signal name Bit number constant SSC_STSBIT_AX_225 SSC STSBIT
194. rn value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 to 9 Argument location After sending command to position board the designated timeout time elapsed while confirming completion of transient processing SSC_FUNC_ERR_NOW_TRANSIENT_PROCESSING Transient processing SSC_FUNC_ERR_TRANSIENT_INVALID_DATA Transient data is invalid Point When the timeout time is designated to less than 1 second 1000ms the timeout is at 1 second 1000ms Supported version API Ver Header file Ver 1 80 mc2xxstd h Reference None 4 177 4 FUNCTION DETAILS MEMO 4 178 5 STRUCTURE LIST 5 STRUCTURE LIST 5 1 PNT_DATA_EX structure This point data structure is used for the automatic operation and linear interpolation typedef struct 0000h long position unsigned long speed unsigned short actime unsigned short dctime unsigned short dwell unsigned short subcmd 0010h unsigned char oas_num 2 unsigned char reserve2 2 unsigned char s_curve unsigned char reserve2 11 0020h 5 Member position Position data speed Feed speed 0 to 2147483647 actime Acceleration time constant ms 0 to 20000 dctime Deceleration time constant ms 0 to 20000 dwell
195. ror code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 17 1 to 9 Argument location SSC FUNC ERR MISMATCH DRIVE MODE The operation mode is other than the JOG operation or Incremental feed SSC FUNC ERR TIMEOUT 0 During the confirmation of response after executing the command to the 1 to 2 Timeout location position board the timeout time 1 second has elapsed SSC FUNC ERR NOW ALARM SYSTEM A system error E 000 h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC FUNC ERR STS BIT SCE The speed change error signal SCE turned on Point None Supported version Ver Header file 1 00 me2xxstd h Reference sscChangeManualPosition sscChangeManualAccTime sscChangeManualDecTime 4 FUNCTION DETAILS 4 10 5 sscChangeAutoSpeed The automatic operation or linear interpolation speed will be changed The change speed signal SCHG will be turned on and the completion of preparation for changing speed signal SCF or the speed change error signal SCE will be confirmed to be on int sscChangeAutoSpeed int board_id int channel int axnum int pntnum long speed Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 pntnum in Point number 0 to 319 speed in Feed speed after change speed unit 0 to 2
196. ror code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Cause countermeasure SSC_FUNC_ERR_ARGUMENT_0D The argument is outside the set range 1 to 9 Argument location SSC_FUNC_ERR_TIMEOUT_01 During the confirmation of response after executing the command to the ee ec re en board the timeout time 1 second has elapsed SSC FUNC ERR ALREADY STOP LOG FUNC ERR ALREADY STOP LOG Logging has already been stopped has already been stopped Point None Supported version API Ver Header file 1 00 me2xxstd h Reference sscStartLog 4 110 4 FUNCTION DETAILS 4 18 3 sscCheckLogStatus The log operation status will be got int sscCheckLogStatus int board_id int channel int status Argument board_id in Board ID number 0 to 3 channel in Channel number 1 status out Pointer to 4 byte variable 4 bytes x 1 which stores the log operation status The log operation being SSC_LOGO_OFF x performed signal LOGO is OFF The log operation being SSC_LOGO_ON 7 performed signal LOGO is ON Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range
197. ror code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point None Supported version API Ver Header file 1 00 me2xxstd h Reference sscSetPointDataEx 4 FUNCTION DETAILS 4 7 4 sscCheckPointOffset The point number offset will be got int sscCheckPointOffset int board_id int channel int axnum Short offset Argument board id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 offset out Pointer to 2 byte variable 2 bytes x 1 which stores the point table offset Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point None Supported version API Ver Header file 1 00 me2xxstd h Reference sscCheckPointDataEx 4 FUNCTION DETAILS 4 7 5 sscGetDrivingPointNumber The operation point number will be got int sscGetDrivingPointNumber int board_id int channel int axnum short driving_pnt Argument board_id in Board ID number 0 to 3 chan
198. ror function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location SSC_FUNC_ERR_MARK_DETECT_UNUSABLE Mark detection function is disabled Mark detection function is not supported Mark detection function has been disabled by the settings SSC FUNC ERR MARK DETECT UNDETECTED There is no mark detection data that can be got After checking that the mark detection count of the position board has been renewed call the sscGetMarkDetectionData function 4 124 4 FUNCTION DETAILS Point After getting mark detection data the read complete buffer number is renewed 1 For continuous detection mode the read complete buffer number is set to 1 when the read complete buffer number exceeds 255 For ring buffer mode the read complete buffer number is set to 1 when the number of continuous latch data storages is exceeded The same mark detection data can only be got once Therefore it is necessary to hold the got data with a user program Data is not got for arguments that designate a NULL pointer read complete buffer number mark detection edge data mark detection positioning data Supported version API Ver Header file Ver 1 60 mc2xxstd h Reference sscGetMarkDetectionCounter 4 125 4 FUNCTION DETAILS 4 20 2 sscGetMarkDetectionCounter Mark
199. rror code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point The position board High speed monitor function is used to get the feedback moving speed Supported version Ver Header file 1 00 me2xxstd h Reference sscGetCmdSpeedFast 4 FUNCTION DETAILS 4 13 6 sscGetCurrentFbFast The current feedback will be got int sscGetCurrentFbFast int board_id int channel int axnum short currentFb Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 currentFb out Pointer to 2 byte variable 2 bytes x 1 which stores the current feedback Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point The position board High speed monitor function is used to get the current feedback Supported version API Ver Header file Ver 1 00 mc2ost h Reference None 4 FUNCTION DETAILS 4 13 7 sscGetPositionDroopFast The position droop will be got
200. rupt for the designated event factor was being confirmed 10000112h SSC_FUNC_ERR_TERMINATE_NOTIFY_EVENT An error occurred in the interrupt event notification thread while the interrupt for the designated event factor was being confirmed 10000113h SSC_FUNC_ERR_SET_HOST_APPLICATION_EVENT A function which releases the standby status was called from the user program while the interrupt for the designated event factor was being confirmed 10000200h SSC_FUNC_ERR_ALREADY_REREGISTER_CALLBACK The interrupt callback function has already been registered To change the interrupt callback function call the sscUnregisterIntCallback function 10000201h SSC_FUNC_ERR_ALREADY_UNREREGISTER_CALLBACK The interrupt callback function has already been unregistered 10 Mark detection functions error Constant definition 00067000h SSC_FUNC_ERR_MARK_DETECT_UNUSABLE Mark detection function is disabled Mark detection function is not supported Mark detection function has been disabled by the settings 00067001h SSC FUNC ERR MARK DETECT UNDETECTED There is no mark detection data that can be got After checking that the mark detection count of the position board has been renewed call the sscGetMarkDetectionData function 11 Interface mode functions error Constant definition 000D0000h SSC FUNC ERR IFM INP OFF In position signal is OFF When setting Does not wait until the in position signal is ON during in position signal check mo
201. rvo amplifier and servo motor make sure that the safety standards are satisfied Construct a safety circuit externally of the position board or servo amplifier if the abnormal operation of the position board or servo amplifier differ from the safety directive operation in the system In systems where coasting of the servo motor will be a problem during the forced stop emergency stop servo OFF or power supply OFF use dynamic brakes Make sure that the system considers the coasting amount even when using dynamic brakes In systems where perpendicular shaft dropping may be a problem during the forced stop emergency stop servo OFF or power supply OFF use both dynamic brakes and electromagnetic brakes NCAUTION The dynamic brakes must be used only on errors that cause the forced stop emergency stop servo OFF These brakes must not be used for normal braking The brakes electromagnetic brakes assembled into the servo motor are for holding applications and must not be used for normal braking The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max speed Use wires and cables that have a wire diameter heat resistance and bending resistance compatible with the system Use wires and cables within the length of the range described in the instruction manual The ratings and characteristics of the parts other than position boar
202. s Store and use the unit in the following environmental conditions Conditions Environment B Position board Servo amplifier Ambient 0 C to 40 C With no freezing According to each instruction manual temperature 32 F to 104 F 22 8096 RH or less Ambient humidity According to each instruction manual With no dew condensation Storage 20 C to 65 C According to each instruction manual temperature 4 F to 149 F Indoors where not subject to direct sunlight Atmosphere AD ar No corrosive gases flammable gases oil mist dust must exist Altitude 1000m 3280 84ft or less above sea level According to each instruction manual When coupling with the synchronous encoder or servo motor shaft end do not apply impact such as by hitting with a hammer Doing so may lead to detector damage Do not apply a load larger than the tolerable load onto the synchronous encoder and servo motor shaft Doing so may lead to shaft breakage When not using for a long time disconnect the power line from the servo amplifier Place the position board and servo amplifier in static electricity preventing vinyl bags and store When storing for a long time please contact with our sales representative Also execute a trial operation When fumigants that contain halogen materials such as fluorine chlorine bromine and iodine are used for disinfecting and protecting wooden packaging from inse
203. s number 1 to 32 prmnum out Pointer to 8 byte array 2 bytes x 4 which stores the servo parameter change number Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point For 55 communication method a value is not stored in the upper 6 bytes of the servo parameter change number Use monitor for detailed information of the servo parameter change number Supported version API Ver Header file Ver 1 60 mc2osstd n Reference None 4 FUNCTION DETAILS 4 5 System functions 1 Processing procedure An example of system processing procedure until starting up shutting down the system is below Host controller Position board erc CREER i Enables the Opens the memory access port memory access Example sts sscOpen bid if sts 1 55 error process rein ee bipes ee Processes the reboot Example sts sscGetSystemStatusCode bid ch amp status if sts SSC_OK amp status SSC_STS_CODE_READY_FIN
204. s set to In position stop the operation mode is always During the operation when the in position signal is OFF For the interlock stop or interference check standby the completion of operation status is During the operation When the deceleration check system is set to in position stop in the automatic operation or the linear interpolation the Operation completion type is In position stop even though the smoothing stop is set The system alarm and the system error are not confirmed Since the completion of operation status of this function is judged by the operation completion type it may differ from the during operation signal OP and the completion of operation signal OPF of the position board For JOG operation the completion of operation status is not Before start up acceptance Supported version Ver Header file Ver 1 00 2 Reference None 4 FUNCTION DETAILS 4 9 16 sscChangeControlMode The control mode of the servo amplifier will be switched int sscChangeControlMode int board_id int channel int axnum unsigned short ctrl_mode Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 ctrl_mode in Control mode 0000h 0010h Operation mode SSC_CTRL_MODE_POSITION Position control mode SSC_CTRL_MODE_PRESS Continuous operation to torque control mode Return value SSC_OK Functi
205. s set to the status bit number etc When 0 is set to the axis number and SSC ALARM OPERATION is set to the alarm type etc A timeout occurred Consider changing the set timeout value for API functions which have timeout parameters The position board which has the designated board ID could not be found Confirm the board ID selection dip Switch of the position board The mount channel information cannot be got The operating system may not recognize the position board properly Confirm that the position board is properly mounted using the device manager The device driver is not a supported version Use a API library that combines with the device driver contained in the utility software 8 LIST OF DETAILED ERROR CODES Constant definition 00022000h SSC_FUNC_ERR_CREATE_SEMAPHORE An error occurred in the CreateSemaphore function Win32API Call the GetLastError function of Win32API and confirm the error details 00022001h SSC_FUNC_ERR_DELETE_SEMAPHORE An error occurred in the CloseHandle function Win32API Call the GetLastError function of Win32API and confirm the error details 00022002h SSC_FUNC_ERR_WAIT_SEMAPHORE An error occurred in the WaitForSingleObject function Win32API Call the GetLastError function of Win32API and confirm the error details 00022003h SSC_FUNC_ERR_RELEASE_SEMAPHORE An error occurred in the ReleaseSemaphore function Win32API Call the GetLastError function of Win32API and con
206. s the signal after the start operation is requested sscGetAlarm function and remove the cause the sscGetAlarm function and remove the cause 00060040h SSC FUNC ERR MISMATCH DRIVE MODE The operation mode is other than the designated operation mode Example sscChangeManualPosition is called during the automatic operation mode 00060041h SSC FUNC ERR CHG POS DIR The movement direction differs between before and after the position change 00060060h SSC FUNC ERR STS BIT PCE The position change error signal PCE turned on 00060070h SSC FUNC ERR STS BIT SCE The speed change error signal SCE turned on 00060080h SSC FUNC ERR STS BIT TACE The acceleration time constant change error signal TACE turned on The deceleration time constant change error signal TDCE turned ON exceeded the point table range ON 8 LIST OF DETAILED ERROR CODES 7 Sampling functions error Constant definition 00061010h SSC_FUNC_ERR_ALREADY_START_SAMPLING The sampling start signal SMPS is ON Stop the sampling with the sscStopSampling function 00061011h 55 FUNC ERR ALREADY STOP SAMPLING The sampling has already stopped read number read number do not correspond write number write data write number do not correspond do not correspond 8 Log functions error Constant definition 00062000h SSC FUNC ERR NOW LOGGING The log operation being performed signal LOGO is ON Stop the logging with the sscStopLog function 0
207. s tnter 4 39 4 7 5 s5cGetDrivingP ointN Umber 4 40 4 7 6 sscSetLatestPointNumber 4 41 4 8 Continuous operation to torque control data functions 4 42 4 8 1 4 42 4 8 2 sscGetPressData 4 43 4 9 Operating functions e E Pe Pa t b b eade i b deno Pt Up 4 44 4 9 1 SScJogStart 2 tex 4 44 4 9 2 SSCIOGSUOP taeda a d d b v ue a d Lg Ue d d Lg ue a ud D Me Du ue Lu ue D d 4 46 4 9 3 SSCJOGStOPNOW all 12 2 adu dud PM tud 4 47 AQ A SSCINCStalt Ra aN 4 48 2 5 556 er rotto eoe Soh to a ot 4 50 4 9 6 sscHomeReturnS tart cceccccecceeseceeeeceeeeceeceneeceaeeceaeeseaeeesaaeeseaeeseaeescaeeeeaaesseceeseaeessaeeseeeeieeesiseeteas 4 51 4 9 7 ssclinearotarta 2 deant 4 52 4 9 8 55 notice tenete ce tei cmt eta o ette metet efte en 4 53 4 9 9 sscDriveStop aca 4 54 4 9 10 sscDrive
208. se and remove the cause function and remove the cause SSC FUNC ERR TIMEOUT 01 During the confirmation of response after executing the command to the position board the timeout time 1 second has elapsed 4 FUNCTION DETAILS Point If a positive value is designated for the movement distance movement will be in the direction and if a negative value is designated movement will be in the direction The response is not confirmed after the fast start operation signal FST is turned on Supported version API Ver Header file 1 00 me2xxstd h Reference sscDriveStop sscDriveStopNoWait sscDriveRapidStop sscDriveRapidStopNoWait 4 FUNCTION DETAILS 4 9 5 sscAutoStart Automatic operation will be started After performing the necessary settings for operation and changing to automatic operation mode the fast start operation signal FST will be turned on int sscAutoStart int board_id int channel int axnum int point_s int point_e Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 point_s in Start point number 0 to 319 point_e in End point number 0 to 319 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure
209. sion Ver Header file 1 00 me2xxstd h Reference sscJogStop sscJogStopNoWait sscDriveStop sscDriveStopNoWait sscDriveRapidStop sscDriveRapidStopNoWait 4 FUNCTION DETAILS 4 9 2 sscJogStop JOG operation will be stopped The function will wait internally from when the start operation signal ST is turned off until the during operation signal OP is OFF maximum 20s If the during operation signal OP is already OFF the function will immediately terminate int sscJogStop int board_id int channel int axnum Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location SSC_FUNC_ERR_MISMATCH_DRIVE_MODE The operation mode is other than the JOG operation SSC_FUNC_ERR_TIMEOUT_01 During the confirmation of response is being waited after requesting the command to the position board the timeout time 20 seconds has elapsed SSC_FUNC_ERR_NOW_ALARM_SYSTEM A system error E h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause
210. sscChecklntPassPositionData 4 FUNCTION DETAILS 4 16 2 sscChecklntPassPositionData The pass position interrupt condition data will be got int sscChecklntPassPositionData int board id int channel int pass num unsigned long pass option long pass position Argument board id in Board ID number 0 to 3 channel in Channel number 1 pass num in Pass position condition number 1 to 64 pass option out Pointer to 4 byte variable 4 bytes x 1 which stores the pass position option pass position out Pointer to 4 byte variable 4 bytes x 1 which stores the pass position data Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point None Supported version Ver Header file Ver 1 02 mo2xxstd h Reference sscSetIntPassPositionData 4 FUNCTION DETAILS 4 16 3 sscSetStartingPassNumber The pass position condition start and end numbers will be set int sscSetStartingPassNumber int board_id int channel int axnum int pass_start int pass_end Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 pass_start in Pass posi
211. st controller MR MC210 BID 0 MR MC210 BID 1 eee NOU Enables the Opens 210 Board ID 0 memory access port memory access Example sts PE 0 i if sts SSC_OK n error process i Enables the memory access Example i sts sscOpen 1 1 Disables the memory access Example Sts sscClose 1 if sts SSC OK error process Disables the memory access Example T sts sscClose 0 Im S 5 QI n n 5 RU LE CH ae a a re WEL eee el em 4 FUNCTION DETAILS When the same device Board ID is not used the memory access port can be opened at the same time Do not call the sscOpen sscClose function sequentially organizing open close of a memory access port at the beginning and the end of user program process an error with unopened memory access port when calling API function can be prevented Example User program process After turning on the power open the memory access port in the user program initial process 1 Execute arbitrary process while energizing 1 Before turning off the power close the memory access port in the user program end process 4 FUNCTION DETAILS 4 2 1 sscOpen The memory access port will be op
212. story data int sscClearAlarmHistoryData int board_id int channel Argument board_id in Board ID number 0 to 3 channel in Channel number 1 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Cause countermeasure SSC_FUNC_ERR_UNSUPPORT_ALH Alarm history function is not supported SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR TIMEOUT 00 During the confirmation of response after executing the command to the position 1 to 2 Timeout location board the timeout time 2 seconds has elapsed SSC FUNC ERR STS BIT ALHIE The alarm history initialization error signal ALHIE is turned on Point As there is a restriction on the number of times for writing to the position board flash ROM keep calls of the alarm history initialize function to the minimum amount necessary Supported version Ver Header file Ver 1 50 mc2xxstd h Reference sscGetAlarmHistoryData 4 117 4 FUNCTION DETAILS 4 19 Digital input output functions 4 19 1 sscGetDigitallnputDataBit The DI data of the designated digital input will be got in 1 point basis int sscGetDigitallnputDataBit int board_id int channel int din_num int din Argument board_id in Board ID n
213. succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 7 1 to 9 Argument location SSC FUNC ERR NOT START INT DRIVER The interrupt driver is closed Call the sscIntStart function SSC FUNC ERR WAIT EVENT An error occurred in the WaitForSingleObject function Win32API Call the GetLastError function of Win32API and confirm the error details factor was being confirmed the designated event factor was being confirmed designated timeout time elapsed which releases the standby status was called from the user program Point When SSC INFINITE is designated as the timeout time timeout is not checked Instead this function infinitely waits until the interrupt event turns on or off Supported version API Ver Header file Reference sscResetlIntPassPosition sscSetIntPassPosition 4 166 4 FUNCTION DETAILS 4 22 19 sscResetlntDriveFin Operation completion interrupt event status will be nonsignaled This function is used if operation completion interrupt event occurring prior to calling up the sscWaitlntDriveFin function are to be disabled int sscResetIntDriveFin int board id int channel int axnum Argument board id in Board ID number 0 to 3 channel in Channel numb
214. t Signal name SSC CMDBIT UT 97 SSC CMDBIT UT 98 SSC CMDBIT UT 99 SSC CMDBIT UT 100 SSC CMDBIT UT 101 SSC CMDBIT UT 102 SSC CMDBIT UT 103 SSC CMDBIT UT 104 Bit number constant Signal name SSC CMDBIT UT 113 SSC CMDBIT UT 114 SSC CMDBIT UT 115 SSC CMDBIT UT 116 SSC CMDBIT UT 117 SSC CMDBIT UT 118 SSC CMDBIT UT 119 SSC CMDBIT UT 120 Reserved Reserved SSC CMDBIT UT 77 SSC CMDBIT UT 78 SSC CMDBIT UT 89 SSC CMDBIT UT 105 Reserved 6 BIT DEFINITION LIST 6 6 Station status bit SSC_STSBIT_UT_RUALM RIO module alarm SSC_STSBIT_UT_RCALM RIO control alarm SSC STSBIT UT RUWRN RIO module warning SSC STSBIT UT 15 SSC STSBIT UT 8 SSC STSBIT UT 16 SSC_STSBIT_UT_23 SSC_STSBIT_UT_31 ssc Ur 24 ssc ur 2 SSC_STSBIT_UT_MRCH Monitor latch SSC_STSBIT_UT_42 SSC_STSBIT_UT_PWFIN2 Parameter write complete 2 SSC_STSBIT_UT_61 SSC_STSBIT_UT_PWEN2 Parameter number error 2 SSC_STSBIT_UT_62 Reserved SSC_STSBIT_UT_PWED2 Parameter data out of bounds 2 SSC_STSBIT_UT_63 SSC_STSBIT_UT_56 SSC_STSBIT_UT_64 6 BIT DEFINITION LIST Bit number constant Signal name SSC_STSBIT_UT_65 SSC_STSBIT_UT_66 SSC_STSBIT_UT_67 SSC_STSBIT_UT_68 SSC_STSBIT_UT_69 SSC_STSBIT_UT_70 SSC_STSBIT_UT_71 SSC_STSBIT_UT_72 Reserved Bit number constant Signal name SSC STSBIT UT 81 SSC STSBIT UT 82 SSC STSBIT UT 83 SSC STSBIT UT 84 SSC STSBIT U
215. t data will be got int sscCheckPointDataEx int board_id int channel int axnum int pnt_num PNT DATA EX pPntDataEx Argument board id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 pnt num in Point number 0 to 319 pPntDataEx out Pointer to 32 byte structure 32 bytes x 1 which stores the point data Refer to 5 1 PNT DATA EX structure for the point data structure Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR POINT NUMBER OVER Designated point number point number offset value exceeded the point table range Point None Supported version API Ver Header file 1 00 mc2xxstd h Reference sscCheckPointOffset 4 FUNCTION DETAILS 4 7 3 sscSetPointOffset The point number offset will be set int sscSetPointOffset int board_id int channel int axnum short offset Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 offset in Point number offset value 0 to 319 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed er
216. tError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point None Supported version Ver Header file Ver 1 02 me2xxstd h Reference sscGetDigitallnputDataBit 4 119 4 FUNCTION DETAILS 4 19 3 sscSetDigitalOutputDataBit The DO data of the designated digital output will be set in 1 point basis int sscSetDigitalOutputDataBit int board_id int channel int dout_num int dout Argument board_id in Board ID number 0 to 3 channel in Channel number 1 dout_num in Digital output number 0 to 1023 dout in 0 to 1 DO data of the digital output SSC_BIT_OFF Output signal OFF SSC_BIT_ON Output signal ON Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code 1 to 9 Argument location 1 to 5 Timeout location postion board the timeout time 1 second has elapsed This function sets the digital output with the exclusive control function of the position board Point Supported version API Ver Header file Ver 1 02 me2xxstd h Reference sscSetDigitalOutputDataWord sscGetDigitalOutputDataBit 4 120 4 FUNCTION DETAILS 4 19 4 sscSetD
217. tant after change ms 0 to 20000 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 to 9 Argument location The operation mode is other than the Automatic operation or Linear interpolation table range A system error E OO 0h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause During the confirmation of response after executing the command to the ete Te ton to 2 Timeout location ain ee board the timeout time 1 second has elapsed SSC FUNC ERR STS FUNC ERR STS BIT TDCE The deceleration time constant The deceleration time constant change error signal turned error signal TDCE turned on Point None Supported version API Ver Header file Ver 1 00 mc2osstd h Reference sscGetDrivingPointNumber sscChangeAutoPosition sscChangeAutoSpeed sscChangeAutoAccTime 4 FUNCTION DETAILS 4 11 Alarm functions 4 11 1 sscGetAlarm The alarm number and the specific alarm number will be got int sscGetAlarm int board_id int channel int axnum int alarm_type unsigned short unsigned short detail code Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum
218. tem status codes other than System preparation completion and System running refer to MR MC210 MR MC211 MR MC240 MR MC244 Position Board User s Manual Details Supported version Ver Header file 1 00 me2xxstd h Reference None 4 FUNCTION DETAILS 4 5 4 sscReconnectSSCNET SSCNET communication with the non communicating axes designated as control axes will be started int sscReconnectSSCNET int board_id int channel unsigned long long ctrl_axbit unsigned short err code Argument board id in Board ID number 0 to 3 channel in Channel number 1 ctrl_axbit out Pointer to 8 byte variable 8 bytes x 1 which stores the controlling axis information bit 0 to 00000000FFFFFFFFh bitO Axis 1 bit Axis 2 bit31 Axis 32 bit56 Station 1 bit57 Station 2 658 Station 3 bit59 Station 4 err code out Pointer to 2 byte variable 2 bytes x 1 which stores the error code of reconnection disconnection Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR TIMEOUT 00 During the confirmation of response after executing the command to the to 2 Timeout locat
219. the drive version information Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point None Supported version Ver Header file 1 00 me2xxstd h Reference sscGetBoardVersion 4 FUNCTION DETAILS GE ig ge gt gt gt em SSS 4 3 4 sscGetOperationCycleMonitor The operation cycle monitor data will be got int sscGetOperationCycleMonitor int board_id int channel short now short max short over char status Argument board_id in Board ID number 0 to 3 channel in Channel number 1 now out Pointer to 2 byte variable which stores the operation cycle current time max out Pointer to 2 byte variable which stores the operation cycle maximum time over out Pointer to 2 byte variable which stores the operation cycle over time status out Pointer to 1 byte variable 1 byte x 1 which stores the operation cycle status The got data is set in the logical sum of each value SSC_BIT_OCME Operation cycle alarm SSC BIT OCMW Operation cycle warning Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError func
220. the position 1 to 3 Timeout location board the timeout time 10 seconds has elapsed SSC_FUNC_ERR_IFM_INP_OFF In position signal is OFF When setting Does not wait until the in position signal is ON during in position signal check mode call the ssclfmSetHomePosition function when the in position signal is ON SSC_FUNC_ERR_STS_BIT_ZSE The home position set error ZSE occurred Point None 4 129 4 FUNCTION DETAILS Supported version API Ver Header file Ver 1 50 mc2xxstd h Reference None 4 130 4 FUNCTION DETAILS 4 21 3 ssclfmGetMaximumBufferNumber The maximum buffer number for position control mode will be got int ssclfmGetMaximumBufferNumber int board_id int channel int axnum short bufnum Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 bufnum out Pointer to 2 byte variable 2 bytes x 1 which stores the maximum buffer number Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point For API Ver 1 60 or later use the ssclfmGetMaximumBufferNumberEx function Supported version Ver Header f
221. tic operation or sscChangeAutoAccTime 410 7 linear interpolation Changes deceleration time constant of JOG operation incremental feed sscChangeManualDecTime 4 10 8 Changes deceleration time constant of automatic operation or sscChangeAutoDecTime 4 10 9 linear interpolation Alarm Gets the alarm number ana Functions Resets the alarm 4 11 2 sscSetMonitor Starts monitoring General Monitor sscStopMonitor Stops monitoring 4 12 2 Functions sscGetMonitor Gets monitoring data Gets the current command position sscGetCurrentCmdPositionFast 4 13 1 High speed monitor function sscGetCurrentFbPositionFast Gets the current feedback position High speed monitor function 4 13 2 High ee sscGetloStatusFast Gets the external signal status High speed monitor function 4 13 3 Monitor Eiinelions sscGetCmdSpeedFast Gets the moving speed High speed monitor function 4 13 4 uncti sscGetFbSpeedFast Gets the feedback moving speed High speed monitor function 4 13 5 sscGetCurrentFbFast Gets the current feedback High speed monitor function 4 13 6 sscGetPositionDroopFast Gets the position droop High speed monitor function 4 13 7 sscWdEnable Enables the user watchdog function 4 14 1 User Watchdog Functions sscWdDisable Disables the user watchdog function 4 14 2 uncti sscChangeWdCounter Updates the watchdog counter 4 14 3 sscSetOtherAxisStartData Sets the data for starting
222. tion SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 00 me2xxstd h Reference sscClearOperationCycleMonitor 4 FUNCTION DETAILS 4 3 5 sscClearOperationC ycleMonitor The operation cycle monitor data will be cleared initialized int sscClearOperationCycleMonitor int board_id int channel Argument board_id in Board ID number 0 to 3 channel in Channel number 1 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure O 1 to 9 Argument location sscSystemStart function During the confirmation of response after executing the command to the position O 1 to 2 Timeout location board the timeout time 1 second has elapsed sscGetSystemStatusCode function and remove the cause Point None Supported version Ver Header file 1 00 mo2xstd h Reference sscGetOperationCycleMonitor 4 11 4 FUNCTION DETAILS 4 4 Parameter functions 1 Processing procedure Pont Parameters different from initial values should be changed after all initializing w
223. tion SSC FUNC ERR MISMATCH DRIVE MODE The operation mode is other than the JOG operation or Incremental feed SSC FUNC ERR TIMEOUT 0 During the confirmation of response after executing the command to the SSC FUNC ERR STS BIT TDCE The deceleration time constant change error signal TDCE turned on Point SSC FUNC ERR NOW ALARM SYSTEM A system error E h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause 1 to 2 Timeout location position board the timeout time 1 second has elapsed None Supported version Ver Header file 1 00 me2xxstd h Reference sscChangeManualPosition sscChangeManualSpeed sscChangeManualAccTime 4 FUNCTION DETAILS 4 10 9 sscChangeAutoDecTime The automatic operation or linear interpolation deceleration time constant will be changed The change deceleration time constant signal TDCHG will be turned on and the completion of preparation for changing deceleration time constant signal TDCF or the deceleration time constant change error signal TDCE will be confirmed to be on int sscChangeAutoDecTime int board_id int channel int axnum int pntnum short dectime Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 pntnum in Point number 0 to 319 dectime in Deceleration time cons
224. tion condition start number 1 to 64 pass_end in Pass position condition end number 1 to 64 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 02 mo2xxstd h Reference None 4 100 4 FUNCTION DETAILS 4 16 4 sscGetExecutingPassNumber The running pass position condition number will be got int sscGetExecutingPassNumber int board_id int channel int axnum short executing_pass Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 executing_pass out Pointer to 2 byte variable 2 bytes x 1 which stores the running pass position condition number Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point The end number of the pass position condition will be stored in the executing pass position conditio
225. um int bitnum int bitdata Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 4 to 32 0 System command bit 1 to 32 Axis command bit 4 to 1 Station command bit 1 Station 1 2 Station 2 3 Station 3 4 Station 4 bitnum in Command bit number Refer to Chapter 6 BIT DEFINITION LIST for the command bit number bitdata in Command bit data SSC_BIT_OFF Bit OFF SSC_BIT_ON Bit ON Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location SSC_FUNC_ERR_TIMEOUT_01 During the confirmation of response after executing the command to the position board the timeout time 1 second has elapsed SSC_FUNC_ERR_ARGUMENT_MISMATCH The axis number and the command bit number do not correspond Example When 0 is set in the axis number and SSC_CMDBIT_AX_SON is set in the command bit number etc Point None Supported version API Ver Header file Ver 1 80 mo2xxstd h Reference sscGetStatusBitSignalEx sscWaitStatusBitSignalEx 4 FUNCTION DETAILS E ENY 4 6 2 sscGetStatusBitSignalEx The designated status bit will be got int sscGetStatusBitSignalEx int
226. um buffer number of the designated control mode 4214 21 4 Renews the latest command buffer number and data ssclfmRenewLatestBuffer 4 21 5 Only position control mode Renews the latest command buffer number and data of the ssclfmRenewLatestBufferEx 4 21 6 designated control mode Gets the latest command buffer number and data ssclfmCheckLatestBuffer a 4 21 7 Only position control mode Interface Mode Gets the latest command buffer number and data of the Functions ssclfmCheckLatestBufferEx 4 21 8 designated control mode Gets the transmit buffer number and data ssclfmGetTransmitBuffer P 4 21 9 Only position control mode Gets the transmit buffer number and data of the designated control ssclfmGetTransmitBufferEx 4 21 10 ssclfmTrqSetSpeedLimit Sets the speed limit value for torque control 4 21 11 NOME ee eo the control mode ETE 21 12 ssclfmGetControiMode Gets the control mode J the control mode 42143 21 13 Gets the status bit information of all axes for the designated status ssclfmGetEventStatusBits 4 21 14 signal using the event detect function 3 LIST OF API FUNCTIONS Reference Function Type Function Name Function Content Section sscintStart Starts up the interrupt driver 4 22 1 sscintEnd Closes the interrupt driver 4 22 2 ssclntEnable Enables interrupt output 4 22 3 sscintDisable Disables interrupt output 4 22 4 sscUnregisterIntCallback Unre
227. umber 0 to 3 channel in Channel number 1 din_num in Digital input number 0 to 1023 din out Pointer to 4 byte variable 4 bytes x 1 which stores the DI data status of the digital input SSC_BIT_OFF Input signal OFF SSC_BIT_ON Input signal ON Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 0 The argument is outside the set range O 1 to 9 Argument location Point None Supported version Ver Header file Ver 1 02 medxxstd h Reference sscGetDigitallnputDataWord 4 118 4 FUNCTION DETAILS 4 19 2 sscGetDigitallnputDataWord The DI data of the designated digital input will be got in 16 point basis int sscGetDigitallnputDataWord int board id int channel int din word num unsigned short din Argument board id in Board ID number 0 to 3 channel in Channel number 1 din word num in Digital input word number 0 to 63 din out Pointer to 2 byte variable 2 bytes x 1 which stores the DI data status of the digital input 0 Output OFF 1 Output ON for each bit bito DI 5 1000 615 gt DI_O OF Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLas
228. unctions provide the following library lt 32 bit operating system compatible library gt mc2xxstd dll mc2xxstd lib COFF format lt 64 bit operating system compatible library e mc2xxstd x64 dll mc2xxstd x64 lib COFF format 4 These functions support the following PCI bus compatible position board MR MC210 211 PCI Express bus compatible position board MR MC240 MR MC241 e Use stdcall as the calling convention of this API function The following operating system and library combinations are not supported 32 bit operating system 64 bit operating system compatible library mc2xxstd x64 dll 64 bit operating system 32 bit operating system compatible library mc2xxstd dll Be sure to test the user program thoroughly when incorporating with user equipment 2 CONDITIONS FOR USE MEMO 3 LIST OF API FUNCTIONS 3 LIST OF API FUNCTIONS Reference Function Type Function Name Function Content Section Support sscGetLastError Gets the detailed error codes Functions sscGetMountChannel Gets the mount channel information Device Opens memory access port Functions Gets position board system version information 2 Gets the version information for the driver Gets operation cycle monitor data sscClearOperationCycleMonitor Clears operation cycle monitor data 4 3 5 sscResetAllParameter Sets the initial values in all parameters before system startup 4 4 1
229. upt callback function call the sscUnregisterIntCallback function Point When using the C language write the stdcall declaration for the callback function The update processing of the interrupt factor by the interrupt process end signal ITE and the outputting with factor of interrupt signal ITO is unnecessary in the callback function The callback function is called back from the interrupt driver therefore write a minimum code without the infinite waiting processing The callback function is called back before the interrupt factor occurrence waiting functions such as the sscWaitlntEvent function Supported version Ver Header file Ver 1 02 me2xxstd h Reference sscintStart sscIntEnable sscUnRegisterIntCallback 4 150 4 FUNCTION DETAILS 4 22 6 sscUnregisterlntCallback The interrupt call back function will be unregistered int sscUnregisterIntCallback int board id int channel Argument board id in Board ID number 0 to 3 channel in Channel number 1 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 location SSC_FUNC_ERR_ALREADY_UNREREGISTER_CALLBACK FUNC_ERR_ALREADY_UNREREGISTER_CALLBACK Th
230. version API Ver Header file 1 00 me2xxstd h Reference None 4 FUNCTION DETAILS 4 13 4 sscGetCmdSpeedFast The moving speed will be got int sscGetCmdSpeedFast int board_id int channel int axnum long speed Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 speed out Pointer to 4 byte variable 4 bytes x 1 which stores the moving speed Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point The position board High speed monitor function is used to get the moving speed Supported version Ver Header file 1 00 me2xxstd h Reference sscGetFbSpeedFast 4 FUNCTION DETAILS 4 13 5 sscGetFbSpeedFast The feedback moving speed will be got int sscGetFbSpeedFast int board_id int channel int axnum long speed Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 speed out Pointer to 4 byte variable 4 bytes x 1 which stores the feedback moving speed Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed e
231. x 1 which stores the transmit buffer number bufdata out Pointer to 4 byte variable 4 bytes x 1 which stores the transmit buffer data Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location Point When a NULL pointer is designated as the transmit buffer data only the transmit buffer number will be got Supported version API Ver Header file Ver 1 60 me2xxstd h Reference ssclfmCheckLatestBufferEx 4 138 4 FUNCTION DETAILS 4 21 11 ssclfmTrqSetSpeedLimit The speed limit value for torque control will be set int ssclfmTrqSetSpeedLimit int board_id int channel int axnum long speed Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Axis number 1 to 32 speed in Speed limit value for torque control 0 01r min 0 to 1000000000 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location P
232. xxstd h Reference sscGetDrivingPointNumber sscChangeAutoSpeed sscChangeAutoAccTime sscChangAutoDecTime 4 FUNCTION DETAILS 4 10 3 sscChangeLinearPosition The linear interpolation position will be changed int sscChangeLinearPosition int board_id int channel int axnum int grpnum int pnt_num long pPosition Argument board_id in Board ID number 0 to 3 channel in Channel number 1 axnum in Primary axis number 1 to 32 grpnum in Linear interpolation group number 1 to 8 pnt_num in Point number 0 to 319 pPosition in Pointer to 16 byte array 4 bytes x 4 which stores the position data after change Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR MISMATCH DRIVE MODE The operation mode is other than the Linear interpolation SSC FUNC ERR POINT NUMBER OVER Designated point number point number offset value exceeded the point table range SSC FUNC ERR NOW ALARM SYSTEM A system error E h occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC ERR TIMEOUT 00 During the confirmation of response after executing the command to the O
233. ystem status bit axis command bit axis status bit interrupt event factor axis interrupt detailed error code Jul 2015 IB NA 0300225 C Additional function Point table functions sscSetLatestPointNumber Interface mode functions ssclfmGetEventStatusBits I O device functions sscGetInputDeviceBit sscGetlnputDeviceWord sscSetOutputDeviceBit sscSetOutputDeviceWord sscGetOutputDeviceBit sscGetOutputDeviceWord Transient transmit functions sscSendReceiveTransientData TRANSIENT CMD structure TRANSIENT STS structure Additional correction Parameter functions sscChangeParameter sscChange2Parameter sscCheckParameter sscCheck2Parameter System functions sscReconnectSSCNET sscDisconnectSSCNET Command Status functions sscSetCommandaBitSignalEx sscGetStatusBitSignalEx sscWaitStatusBitSignalEx Alarm functions sscGetAlarm sscResetAlarm General monitor functions sscSetMonitor sscStopMonitor sscGetMonitor Interface mode functions ssclfmRenewLatestBuffer ssclfmRenewLatestBufferEx Interrupt functions sscResetintEvent sscSetlntEvent sscWaitlntEvent sscResetIntEventMulti sscSetIntEventMulti sscWaitlntEventMulti PNT DATA EX structure INT CB DATA structure bit definition system status bit axis status bit station command bit station status bit Interrupt event factor system interrupt station interrupt detailed error code Japanese Manual Number IB NA 0300224 This manual confers no industrial

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