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User Manual PCI-1285/1285E

1. Example VC C VB NET BCB View Description ARC vi 4 N N Demonstrates how to control an interpolation group s arc motion Change P JIN N N 4 Demonstrates how to change the 1 axis motion position on the fly Change V iui a N N N Demonstrates how to change the 1 axis motion velocity on the fly Cm v JIN N 4 N Demonstrates how to use the ACM API to control one axis continuous motion Compare JIN 4 N 4 oe how to use the compare func DIO JIN R N N nee axis digital input output func Event af 4 N N Demonstrates how to check event from driver Home VOIN y y V Demonstrates how to use the home function Line JIN N 4 4 Demonstrates how to control an interpolation group s linemotion MPG JOG JIN N J 4 Demonstrates how to start external drive operation on the specified device and axis Demonstrates how to control an interpolation Path VOIN y y V _ group s path continuous interpolation motion PTP JININ N 4 J Demonstrates how to control one axis point to point motion Demonstrates how to control relations SetCardRelation V V V y N y between multi PCI 1220 devices SimulateOpe AU N J J Demonstrates how to control simultaneous movement between multi axis Direct a N N s Demonstrates how to control an interpolation group s direct motion Movelmpose EE N N N i a how to use Move Impose unction Latch UA y y V Demonstrates how to use latch function Helix JIN N J N Demonstra
2. Name Type In or Out Description GpHandle HAND IN Group handle from Acm GpAddAxis Return Value Error Code Comments Interpolation Motion 6 3 5 4 1 Acm_GpMoveLinearRel Format U32 Acm_GpMoveLinearRel HAND GroupHandle PF64 DistanceArray PU32 pArrayElements Purpose Command group to execute relative line interpolation Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm GpAddAxis DistanceArray PF64 IN Distance array of axis in group each value of array elements represent the axis relative position pArrayElements PU32 IN OUT Element count in the array This count must egual to the axis count in this group or else it will be returned axis count in group PCl 1285 1285E User Manual 152 Return Value Error Code Comments The seguence of data in DistanceArray must follow the order of X axis Y axis Z axis U axis For example if one group has two axes Y axis and U axis The first data in DistanceArray means Y axis relative distance and the second data means U axis relative distance The unit of distance in DistanceArray is PPU of each axis in group The difference between line interpolation and direct interpolation line interpolation s speed is divided into even line speed for every axis axis moves at this even line speed Mostly line interpolation is applied to the axis assembled as right angle But direct interpolation s line speed
3. Acm AxSetCmdPosition y V Set command position Position Acm AxGetCmdPosition N v Get command position Counter Acm AxSetActualPosition y y Set actual position Acm_AxGetActualPosition y y Get actual position Acm_ AxSetCmpData V X Set comparison data Canpa Acm_AxSetCmpTable N X Set comparison data table Acm AxSetCmpAuto N X Set line comparison datas Acm AxGetCmpData V X _ Get current compare data Acm_AxGetLatchData N X Get latched data pn Acm AxTriggerLatch N X Trigger latch data Acm AxResetLatch N X Reset latch information is Acm AxGetLatchFlag y X Get latch flag Acm_AxDoSetBit N V Set bit value in DO A Yd Acm AxDoGetBit N V Get bit value in DO Acm AxDiGetBit N V Get bit value in DI Ext Drive Acm AxSetExtDrive N V Set external driver Acm AxCamlnAx x X Command e cam Acm AxGearlnAx N V Command e gear Acm AxGantrylnAx y X Command gantry Application mn a HOS Or N i process of electronic cam or electronic gear Acm AxTangentinGp N X vo tangent motion follow Acm GpAddAxis y y _ Add axis into group Acm_GpRemAxis y y Remove axis from group SYSTEM Acm GpClose y y Close group Acm_GpResetError 4 N TI when group is error HA Acm GpGetState N V _ Get current states of group Group Command group to change the Acm_GpChangeVel y V velocity while group is in line interpolation motion Velocity Change the velocity of the current Acm GpChangeVelByRate N X igroup motion according to the
4. Bits Description Positive direction Negative direction OUT DIR OUT DIR output output output output 0 OUT DIR TUU m 1LF tow 1 OUT DIR OUT negative logic JUL a JUU w 2 OUT DIR DIR negative logic TUU m 1LF Hi 3 OUT DIR OUT amp DIR negative logic i m o SUL w l 4 CW CCW UU High High 5 CW CCW CW amp CCW negative logic TITL u tw JUL 6 A B Phase UT 1 our DIR DIR s 7 B A Phase our DIR N DIR 6 4 3 1 5 Alarm 6 4 3 1 5 1 FT AxAlmMap Data Type U32 R W R 187 PCI 1285 1285E User Manual PropertylD 310 Meaning Get the alarm features supported by this motion axis Bits Description 0 Enabled 1 Logic 2 React 3 31 Not defined Comments 6 4 3 1 6 In Position 6 4 3 1 6 1 FT AxInpMap Data Type U32 R W R PropertylD 311 Meaning Get the In Position features supported by this motion axis Bits Description 0 Mode 1 Logic 2 31 Not defined Comments 6 4 3 1 7 ERC 6 4 3 1 7 1 FT_AxErcMap Data Type U32 R W R PropertylD 312 Meaning Get the ERC features supported by this motion axis Bits Description 0 Enable mode 1 Logic 2 On time not support 3 Off time not support 4 31 Not defined Comments PCl 1285 1285E User Manual 188 6 4 3 1 7 2 FT AxErcEnableModeMap Data Type U32 R W R PropertylD 313 Meaning Get axis supported ERC mode B
5. Format U32 Acm DagDoSetByte HAND DeviceHandle U16 DoPort U8 ByteData Purpose Set value to specified DO port Parameters Name Type In or Out Description DeviceHandle HAND IN Device handle from Acm DevOpen DoPort U16 IN DO port ByteData U8 IN Value to be set Return Value Error Code Comments PCI 1285 1285E do not support DO 6 3 3 1 4 Acm DagDoSetBit Format U32 Acm DagDoSetBit HAND DeviceHandle U16 DoChannel U8 Bit Data Purpose Set the value to specified DO channel Parameters Name Type In or Out Description DeviceHandle HAND IN Device handle from Acm DevOpen DoChannel U16 IN DO channel BitData U8 IN Value to be set O or 1 Return Value Error Code Comments PCI 1285 1285E do not support DO PCl 1285 1285E User Manual 110 6 3 3 1 5 Acm DagDoGetByte Format U32 Acm DagDoGetByte HAND DeviceHandle U16 DoPort PU8 ByteData Purpose Get the byte data of specified DO port Parameters Name Type In or Out Description DeviceHandle HAND IN Device handle from Acm DevOpen DoPort U16 IN DO port ByteData PU8 OUT Returned value Return Value Error Code Comments PCI 1285 1285E do not support DO 6 3 3 1 6 Acm DagDoGetBit Format U32 Acm DagDoGetBit HAND DeviceHandle U16 DoChannel PU8 BitData Purpose Get the bit value of specified DO channel Parameters Name Type In or Out Description
6. Bits Description 0 Line interpolation 2 axes 1 Line interpolation 3 axes 2 Line interpolation 4 axes 3 Line interpolation 5 axes 4 Line interpolation 6 axes 5 7 Not defined 8 Arc interpolation 2 axes 9 Arc interpolation 3 axes 10 Spiral 11 15 Not defined 16 Synchronous electronic gear 17 Synchronous electronic cam 18 Synchronous gantry 19 Synchronous tangent 20 23 Not defined 24 Select path 25 31 Not defined Comments 6 4 1 1 2 FT_DevAxisCount Data Type U32 R W R PCI 1285 1285E User Manual 176 PropertylD 1 Meaning Get axis number of this device Comments 6 4 1 1 3 FT DevFunctionMap Data Type U32 R W R PropertylD 2 Meaning Get device supported functions 1 support 0 Not support W ao Description Motion DI DO Al PCI 1285 1285E not Suport AO PCI 1285 1285E not Suport Timer Counter DAO DI PCI 1285 1285E do not support 0 4 DM oy BR ow Mm O DAQ DO PCI 1285 1285E do not support O DAQ AI PCI 1285 1285E not support 10 DAQ AO PCI 1285 1285E not support 11 Emg 12 31 No definition Comments 6 4 1 1 4 FT_DevMDAGTypeMap Data Type U32 R W R PropertylD 6 Meaning Data types that MotionDAQ supports Bits Description 0 Command Position 1 Actual Position 2 Lag Position difference between Command Positi
7. 1 Disabled 6 4 3 2 19 8 CFG AxIN4StopReact Data Type U32 R W R amp W PropertylD 642 Meaning Set get IN4 trigger stop mode Comments Value Description 0 Sudden stop 1 Decelerating 6 4 3 2 19 9 CFG_AxIN4StopLogic Data Type U32 R W R amp W PropertylD 643 Meaning Set get the active logic of IN4 trigger stop function Comments Value Description 0 Active low 1 Active high 219 PCI 1285 1285E User Manual 6 4 3 2 19 10 CFG AxIN5StopEnable Data Type U32 R W R amp W PropertylD 644 Meaning Enable disable IN5 trigger stop function Comments Value Description 0 Enabled 1 Disabled 6 4 3 2 19 11 CFG AxIN5StopReact Data Type U32 R W R amp W PropertylD 645 Meaning Set get IN2 trigger stop mode Comments Value Description 0 Sudden stop 1 Decelerating 6 4 3 2 19 12 CFG AxIN5StopLogic Data Type U32 R W R amp W PropertylD 646 Meaning Set get the active logic of IN5 trigger stop function Comments Value Description 0 Active low 1 Active high PCI 1285 1285E User Manual 220 6 4 3 3 Parameter 6 4 3 3 1 Speed Pattern 6 4 3 3 1 1 PAR_AxVelLow Data Type F64 R W RW PropertylD 401 Meaning Set get low velocity start velocity of this axis Unit PPU S Comments This property value must be smaller than or equal to PAR Ax
8. 169 PCI 1285 1285E User Manual pCurCmdFunc PU32 OUT Return current command function in executing 0 EndPath 1 Abs2DLine 2 Rel2DLine 3 Abs2DArcCW 4 Abs2DArcCCW 5 Rel2DArcCW 6 Rel2DArcCCW 7 Abs3DLine 8 Rel3DLine 9 Abs4DLine not support 10 Rel4DLine not support 11 Abs2DDirect 12 Rel2DDirect 13 Abs3DDirect 14 Rel3DDirect 15 Abs4DDirect 16 Rel4DDirect 17 Abs5DDirect 18 Rel5DDirect 19 Abs6DDirect 20 Rel6DDirect 21 Abs3DArcCW not support 22 Rel3DArcCW not support 23 AbsaDArcCCW not support 24 RelSDArcCCW not support 25 Abs3DHelixCW 26 Rel3DHelixCW 27 Abs3DHelixCCW 28 Rel3DHelixCCW 29 GPDELAY uint ms pRemainCount PU32 OUT Return number of unexecuted path data in path pFreeSpaceCount PU32 OUT Return number of free space in path buffer Return Value Error Code Comments You must input the GroupHandle and then get path status of this group 6 3 5 5 7 Acm GpMoveSelPath Format U32 Acm GpMoveSelPath HANDGroupHandle HAND PathHanle U32 Startlndex U32Endlndex U8Repeat Purpose Move path segment in system path buffer from start index and end index Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm GpAddAxis PathHandle HAND IN Pointer to path handle from Acm GpLoadPath Startlndex U32 IN Start Index 0 9999 Endlndex U32 IN End In
9. Return Value Error Code 163 PCI 1285 1285E User Manual 6 3 5 5 Comments Start Point R CW Dir gt Center Point PCI 1285E does not support this API 6 3 5 4 16 Acm GpChangeVelByRate Format U32 Acm GpChangeVelByRate HAND GroupHandle U32 Rate Purpose Change the velocity of the current group motion according to the specified ratio Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm GpAddAxis Return Value Error Code Comments New velocity Former velocity of group rate 0 01 Rate must be larger than zero and less than the ratio of the maximum velocity to current group velocity of the axis with the lowest ID New velocity is valid for the current motion only For more details about changing velocity in interpolation or continuous interpolation motion please refer to Acm GpChangeVel PCI 1285E does not support this API Path 6 3 5 5 1 Acm GpAddPath Format U32 Acm GpAddPath HAND GroupHandle U16 MoveCmd U16 MoveMode F64 FH F64 FL PF64 EndPoint DataArray PF64 CenPoint DataArray PU32 ArrayElements Purpose Add an interpolation path to system path buffer Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm_GpAddAxis PCl 1285 1285E User Manual 164 MoveCmd U16 IN Move command 0 EndPath Abs2DLine Rel2DLine Abs2DArcCW Abs2DArcCCW RelA
10. This interface consists of the following parts 1 Motion DAO Config Status You can directly configure acguisition data of each channel in DataGridView ChannellD Count CurCount and Status row are read only the background is grey ChannellD It means a channel ID Four channels Channel 0 Channel 1 Channel 2 and Channel 3 are provided AxisNo Any axis of the device can be selected Period Acguisition period which means the interval between each data is acguired The range is 1 to 255 ms In order to unify the max value of horizontal ordinate of Curve window Period value of each channel will adopt the same value Therefore if Period value of one channel has been changed that of other channels will change accordingly 25 PCI 1285 1285E User Manual Method Trigger mode Trigger modes of data acquisition are as followings 0 MQ_TRIG_DISABLE Disable data acquisition function MQ_TRIG_SW Trigger by software Click MDAQ Start to trigger MG TRIG DI Trigger by DI reserved MG TRIG AXO START Trigger when axis O starts to move MG TRIG AX1 START Trigger when axis 1 starts to move MG TRIG AX2 START Trigger when axis 2 starts to move MO TRIG AX3 START Trigger when axis 3 starts to move MO TRIG AX4 START Trigger when axis 4 starts to move MO TRIG AX5 START Trigger when axis 5 starts to move MG TRIG AX6 START Trigger when axis 6 starts to move 10 MO TRIG AX7 START Trigger when axis 7 starts t
11. 6 4 2 1 3 FT DagAiRangeMap Data Type U32 R W R PropertylD 52 Meaning Get the supported Al range 1 support 0 not support Bits Description 0 10V 1 5V 2 2 5V 3 1 25V 4 0 625V 5 15 Not defined 16 0 20mA 17 31 Not defined Comments In PCI 1285 1285E the value is O 6 4 2 1 4 FT_DagAiMaxSingleChan Data Type U32 R W R PropertylD 54 Meaning Get the Maximum Single Ended Al channel number of the device Comments In PCI 1285 1285E the value is 0 6 4 2 1 5 FT DagAiMaxDiffChan Data Type U32 R W R PropertylD 55 Meaning Get the Maximum Differential Al channel number of the device PCI 1285 1285E User Manual 182 6 4 2 2 Comments PCI 1285 1285E do not support this API 6 4 2 1 6 FT DagAiResolution Data Type U32 R W R PropertylD 56 Meaning Get the Al resolution in bit of the device Comments In PCI 1285 1285E the value is 0 Configuration 6 4 2 2 1 CFG DagAiChanType Data Type U32 R W R W PropertylD 251 Meaning 0 Single ended 1 Differential Comments PCI 1285 1285E do not support this property 6 4 2 2 2 CFG DagAiRanges Data Type U32 R W R W PropertylD 252 Meaning See FT DagAiRangeMap Bits Description 0x0 10 V Ox1 5V 0x2 2 5 V 0x3 1 25 V Comments PCI 1285 1285E do not support this property 183 PCI 1285 1285E User Manual 6
12. SJ ATL COM AppWizard Project name Cluster Resource Type Wizard PCI1245APP Ben AppWizard Database Project DevStudio Add in Wizard Location ISAPI Extension Wizard sJMakefile E Stored Proc Wizard EAMY PROJECTSIMYEXAMPLE ed MFC ActiveX ControlWizard MFC AppWizard dll Create new workspace Baur hop exe Add to current worksp JN New Database Wizard Ti Utility Project 3 Win32 Application mu Win32 Console Application Win32 Dynamic Link Library i Win32 Static Library Platforms viWin32 cancel gt N Build Debug Find in Files 1 Findin Files 2 Results Figure 6 9 Creating a New VC Console Application Click OK you can chose one kind of console application to create Then a new console application has been created 3 Config the new project User should add the path of head files and necessary Lib file and config the project in Project Setting Use can open Project Setting in Menu Poject Settings or right click the new Project and chose Setting to open The configuration is as follows a In Common Motion Architecture the Calling Convention should be stdcall so user need to config the Calling convention as follow Project Settings Settings For Win32 Debug v General Debug C C Link Resources Bi EW PCI1245APP 3 E Source Files Catego Code Generation Reset PCI1245APP cpp E StdAfx cpp Processor Use run time libr
13. This function just supports trapezoidal profile on this imposed motion The end position when motion stops will be the original position added subtracted Position And the driver speed will be changed too The whole speed curve is decided by NewVel of this motion and PAR AxVellow PAR AxVelHigh PAR AxAcc PAR AxDec PAR AxJerk of original motion The range of Position original position is 2147483647 PPU 2147483647 PPU and the range of NewVel orginal FH is 0 CFG AxMaxVel For example as follow The position after imposed Note Can not impose new motion on imposed motion PCI 1285E does not support this API PCI 1285 1285E User Manual 122 6 3 4 6 Simultaneous Motion 6 3 4 6 1 Acm AxSimStartSuspendAbs Format U32 Acm AxSimStartSuspendAbs HAND AxisHandle F64 EndPoint Purpose Set the axis in wait state for simultaneous operation When started by start trigger the axis will start point to point absolute moving to the assigned end position Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen EndPoint F64 IN The absolute position to move unit PPU Return Value Error Code 123 PCl 1285 1285E User Manual Comments If more than one ax is wanted to do simultaneous operation should call this function for each axis The range of EndPoint is 2147483647 PPU 2147483647 PPU PCI 1285E does not support this API
14. Description AxisHandle HAND IN Axis handle from Acm AxOpen HomeMode U32 IN HomeMode 0 MODE1 Abs MODE2 Lmt MODE3_Ref MODE4_Abs_Ref MODE5_Abs_NegRef MODE6_Lmt_Ref MODE7 AbsSearch MODE8 LmtSearch MODE9 AbsSearch Ref MODE10_AbsSearch_NegRef 10 MODE11 LmtSearch Ref 11 MODE12 AbsSearchReFind 12 MODE13 LmtSearchReFind 13 MODE14 AbsSearchReFind Ref 14 MODE15 AbsSearchReFind NegRe 15 MODE16 LmtSearchReFind Ref O 0 N O 01 s EON Dir U32 0 Positive direction 1 Negative direction Return Value Error Code Comments During home motion of MODE3 Ref MODE16 LmtSearchReFind Ref the initial velocity will be used in some stages Therefore the initial velocity decided by PAR AxVellow must be larger than zero If property CFG AxHomeResetEnable is set to be true command position and actual position will be reset to be zero after home motion ends Before using this method the cross distance should be set through PAR AxHomeCrossDistance The speed curve is decided by PAR AxVellow PAR AxVelHigh PAR AxAcc PAR AxDec and PAR AxJerk Explanations The meanings of a b c and d in the below figures are a The velocity will decrease when trapezoid PTPmotion meets ORG EL signal b Trapezoid PTP motion moves with HomeCrossDistance as distance until the motion finishes ORG EL signal is in effective c Trapezoid PTP take a
15. G G Visual C Visual Studio installed templates Windows H Smart Device G indows Application class Library Database WConsole Application GW Windows Control Library Starter Kits N A E i Yeb Control Library GR Windows Service El Other Languages 7 N N Visual Basic Ne Empty Project glCrystal Reports Application Windows H Smart Device By Templates Database Starter Kits Search Online Templates amp Visual J B Visual C G Other Project Types A project for creating an application with a Windows user interface None Test Advantech Moti onl _ N Location F CR Projects v f r Solution Name Test Advantech Motion Create directory for solution Jada to Source Control 87 PCI 1285 1285E User Manual 2 Add relevant dll a Click References on the top right corner of development environment as follows TA Solution Test Advantech ee l p Ga Test Advantech Motion aj M Build 3 j Rebuild Clean Publish Add Add Reference Add Web Reference b Click Browse of the Add Reference dialog box Select AdvMotAPI dll in the Public file folder from search path then click OK as follows Add Reference NET COM Projects Browse Recent SEE O Public sgbak S ADVNOT l E Advilot API dll ARAE AdyMotAPI dll v TFH D Component Files dll tlb olb ocx exe man W c Right click on the Edit interface sel
16. CFG_AxCmpEnable Latch FT_AxLatchMap CFG_AxLatchLogic CFG_AxLatchEnable AILA A S AI Se Se SS SY AAA Ss Ss Ss Ss Ss A Ss Ss Ss Ses A SY SY OS SY lt X X e X X X X X X e e a e e 2 ae ay 2 2 2 2 2 2 2 2 2 2 2 2 22 2 22 PCI 1285 1285E User Manual 72 FT AxGenDOMap N N Aux Gen DIO FT_AxGenDlMap N N CFG AxGenDoEnable V V FT_AxExtDriveMap y N FT AxExtMasterSrcMap N N CFG AxExtMasterSrc N N Ext Drive CFG AxExtSelEnable X x CFG_AxExtPulseNum V V CFG AxExtPulselnMode y N CFG AxExtPresetNum y y FT_AxCamDOMap V V CFG_AxCamDOEnable V X CFG AxCamDOLoLimit V X CAM DO Tr CFG_AxCamDOHiLimit N X CFG AxCamDOCmpSrc y X CFG AxCamDOLogic y X Axis Module CFG AxModuleRange y X EN FT_AxSimStartSourceMap N N CFG AxSimStartSource N X FT_AxIN1Map N V FT AxIN4Map N V FT AxIN5Map N V CFG_AxIN1StopEnable y N CFG AxIN1StopLogic N N CFG AxIN2StopEnable N y CFG_AxIN2StopReact y y DI Stop CFG_AxIN2StopLogic N V CFG AxIN4StopEnable y V CFG AxIN4StopReact y N CFG_AxIN4StopLogic N N CFG AxIN5StopEnable y V CFG AxIN5StopReact N N CFG_AxIN6StopLogic y N S PAR GpGrouplD N V CFG GpAxeslnGroup N N CFG GpSFEnable y X Application CFG GpBldTime N X op PAR GpRefPlane V X N N N N N N N N N N Speed Pattern PAR GpVelLow PAR GpVelHigh
17. Name Type In or Out Description GpHandle HAND IN Group handle from Acm GpAddAxis pState PU16 OUT Group states 0 STA_GP_DISABLE 1 STA_GP_READY 2 STA_GP_STOPPING 3 STA_GP_ERROR_STOP 4 STA_GP_MOTION 5 STA GP AX MOTION not support 6 STA GP MOTION PATH Return Value Error Code Comments If an axis of group is implementing command of single axis motion the group s state will be unchanged 6 3 5 2 2 Acm GpGetCmdVel Format U32 Acm GpGetCmdVel HAND GroupHandle PF64 CmdVel Purpose Get the current velocity of the group Parameters Name Type In or Out Description GroupHandle HAND IN Group handle from Acm GpAddAxis CmdVel PF64 OUT Return the current velocity of the group Unit PPU s PPU is of the axis with the low est ID Return Value Error Code 151 PCI 1285 1285E User Manual 6 3 5 3 6 3 5 4 Comments Get the current velocity during interpolation or continuous interpolation of the group through API MotionStop 6 3 5 3 1 Acm GpStopDec Format U32 Acm GpStopDec HAND GroupHandle Purpose Command axis in this group to decelerate to stop Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm_GpAddAxis Return Value Error Code Comments 6 3 5 3 2 Acm GpStopEmg Format U32 Acm GpStopEmg HAND GroupHandle Purpose Command axis in this group to stop immediately without deceleration Parameters
18. Name Type In orOut Description AxisHandle HAND IN Axis handle from Acm AxOpen this handle should be slave following axis handle MasAxisHandle HAND IN Axis handle from Acm AxOpen this handle should be master leading axis handle Numerator 132 IN Gear ratio numerator Denominator 132 IN Gear ratio denominator RefSrc U32 IN Slave axis engages to master axis s com mand position 0 or actual position 1 Absolute U32 IN The synchronization is relative to start posi tion random position values upon reaching synchronization or absolute 0 relative 1 absolute Return Value Error Code Comments Slave axis will follow mater axis motion if this functionis called successfully The master axis and slave axis can not be reset command actual position by Acm AxSetCmdPosition Acm AxSetActualPosition in gear motion The relationship of master and slave can be terminated by calling the Acm AxStopDec and Acm AxStopEmg the axis will return SteadBy status m Gear Ratio Numerator Denominator If the value is positive the slave will move at the same direction with master axis or else it will move at the opponent direc tion with mater axis m Absolute Absolute 1 Absolute relationship Slave axis will compensate the offset with master axis Absolute 0 Relative relationship Slave axis will not com pensate any offset with master axis Start Gear In with relative Start Gear In with absolute synchroniz
19. PAR GpAcc PAR GpDec PAR GpJerk 73 PCI 1285 1285E User Manual 6 2 6 6 2 6 1 Creating a New Application For creating a new application under PCI 1285 1285E user ought to install Common Motion Examples there are many examples developed in different language in folder Advantech Motion Common Examples user can follow these examples to develop a new application After installing CommonMotion examples user can find two folders Include and Pub lic in folder Advantech Motion Common the files in Public folder are supplied for user to create applications in different languages the relationship between files and developing language is as figure 6 1 Creating a New VC Console Application For creating a new console application the procedure is as follow 1 Click File New from the main menu to create your application project and source code as you would for any other Visual C program Je Edt vew Insert Project guld Took Window Hep l SS BG GW arc_dir 7 re Be HET Creates a new P project n A Figure 6 8 Open File to Creating a New VC Application 2 Define the type of new project as Win32 Console Application define the platform to be Win32 and assign a project file directory PCI 1285 1285E User Manual 74 Microsoft Visual C File Edit View Insert Project Build Tools Window Help a SAI 8 2 2 DAS Wlidec E Files Projects Workspaces Other Documents
20. SRC COMMAND POSITION or SRC ACTUAL POSITION As long as any of the three functions Acm AxSetCmpData Acm AxSetCmpAuto Acm AxSetCmpTable is called the previously com pared data will be cleared At most there are 100 000 compare data This function just supports X axis and Y axis currently If CFG AxGenDoEnable is enabled the compare function will be disabled so the compare signal will not be output PCI 1285E does not support this API PCI 1285 1285E User Manual 138 6 3 4 9 3 Acm AxSetCmpAuto Format U32 Acm AxSetCmpAuto HAND AxisHandle F64 Start F64 End F64 Interval Purpose Set compare data for the specified axis Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Start F64 IN First compare data Unit PPU End F64 IN Last compare data Unit PPU Interval F64 IN Compare interval Unit PPU Return Value Error Code Comments If property CFG AxCmpMethod is set to MTD GREATER POSITION the Start data should be greater than current position command position or actual position The first data will be loaded to comparator and if the current position matches the comparator pulse will be generated the next compare data will be loaded to comparator automatically If property CFG AxCmpMethod is set to MTD SMALLER POSITION the Start data should be smaller than current position command position or actual position The first data wi
21. Set get the low limit for CAMDO signal Comments If CamDo is enabled when command actual position is between the low limit value and high limit value the CamDo signal will triggered Range 2147483647 21 47483647 PCI 1285E does not support this property 6 4 3 2 16 3 CFG_AxCamDOHiLimit Data Type U32 R W RW PropertylD 624 Meaning Set get the high limit for CamDo signal Comments If CamDo is enabled when command actual position is between the low limit value and high limit value the CamDo signal will triggered In PCI 1285 the default value is 20000 PCI 1285E does not support this property PCI 1285 1285E User Manual 214 Range 2147483647 2147483647 6 4 3 2 16 4 CFG AxCamDOCmpSrc Data Type U32 R W RW PropertylD 627 Meaning Set get the compare source Value Description 0 Command position 1 Feedback position Comments In PCI 1285 the default value is 0 PCI 1285E does not support this property 6 4 3 2 16 5 CFG_AxCamDOLogic Data Type U32 R W RW PropertylD 628 Meaning Set get the active logic of CamDO Value Description 0 Low active 1 High active Comments In PCI 1285 the default value is 1 PCI 1285E does not support this property 6 4 3 2 17 Module 6 4 3 2 17 1 CFG AxModuleRange Data Type U32 R W RW PropertylD 629 Meaning Set get pulse number when axis moves 360 degree Comments This value must be multiple of
22. Start Simultaneous Starting when axis 6 is stopped 8388608 Start Simultaneous Starting when axis 6 is stopped Comments The axis will be waiting status if call Acm AxSimStartSuspendAbs Acm_AxSimStartSuspendRel or Acm AxSimStartSuspendVel successfully The axis start motion after calling Acm AxSimStart and stop motion afer calling Acm AxSimStop The simultaneous starting mode should be set by this property If the value is 1 the waiting axis will start depending on STA signal It just needs only one axis of waiting axis to call Acm AxSimStart or Acm_AxSimStop If the value is 256 8192 the simultaneous starting signal comes from compare signal Every axis needs to assign compare signal source but PCI 1285 1285E User Manual 216 cannot assign compare signal of itself to start its simultaneous motion And ervery simultaneous axis needs to call Acm AxSimStop to stop motion If the value is 65536 2097152 the wait axis will be started simultaneous motion when specified axis s motion is stoped Every axis needs to specify an axis but can not be itself And ervery simultaneous axis needs to call Acm AxSimStop to stop motion If the value is 0 The simultaneous motion is disabled You can get axis supported simultaneous mode from FT AxSimStartSourceMap PCI 1285E does not support this property 6 4 3 2 19 Trigger Stop 6 4 3 2 19 1 CFG AxIN1StopEnable Data Type U32 R W R amp W PropertylD 635 Meaning Enab
23. There are two types of Camming Periodic Periodic Once a curve is executed the camming immediately starts again at the beginning of the curve As follow UUUU PCI 1285 1285E User Manual 102 Non periodic After a curve is executed the execution stops n m MasterAbsolute and SlaveAbsolute Absolute When absolute camming is set the control values or the slave values based on the CamTable are interpreted as being absolute The system compen sates any offset developing between the leading and following axis during syn chronization When synchronism is reached a defined phase relationship is established between the control value and the slave value Relative When relative camming is set this means that any offsets between the control value and the slave value are not compensated for during synchroni zation For example sectional drawing from Utility as follows The initial cam curve is as follow N Master Master axis Absolute Slave axis Relative Slave Slave Start posistion 4 360 Viaster Start posistion 103 PCI 1285 1285E User Manual Master axis Relative Slave axis Absolute Slave Start posistion Master Start posistion PCI 1285 1285E do not support this API 6 3 2 11 Acm_DevLoadCAMTableFile Format U32 Acm_DevLoadCAMTableFile HAND DeviceHandle PI8 FilePath U32 CamTablelD PU32 Range PU32 PointsCount Purpose Load Cam Tabl
24. 6 3 4 6 2 Acm AxSimStartSuspendRel Format U32 Acm AxSimStartSuspendRel HAND AxisHandle F64 Distance Purpose Set the axis in wait state for simultaneous operation When started by start trigger the axis will start point to point relative moving to the assigned end position Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen EndPoint F64 IN The relative position to move unit PPU Return Value Error Code Comments If more than one ax is wanted to do simultaneous operation should call this function for each axis The range of EndPoint is 2147483647 PPU 2147483647 PPU PCI 1285E does not support this API 6 3 4 6 3 Acm_AxSimStartSuspendVel Format U32 Acm AxSimStartSuspendVel HAND AxisHandle U16 DriDir Purpose Set the axis in wait state for simultaneous operation When started by start trigger the axis will start continuously moving Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen DriDir U16 IN Direction 0 Positive direction 1 Negative direction Return Value Error Code Comments If more than one ax is wanted to do simultaneous operation should call this function for each axis PCI 1285E does not support this API PCI 1285 1285E User Manual 124 6 3 4 7 6 3 4 6 4 Acm AxSimStart Format U32 Acm AxSimStart HAND AxisHandle Purpose Simu
25. Description DeviceHandle HAND IN Device handle from Acm_DevOpen AxEnableEvtArray PU32 IN Array n enable interrupt event for each axis n is the axis count of motion device Array is of 32 bits data type each bit repre sents different Event types Bit 31 6 He 4 3 2 A o Description Reserved EVT_AX_ EVT_AX_ EVT AX UA CON Ja eo EV AX ped eae VH END VH START ERROR PC Bit n 1 Enable event Bit n 0 Disable event GpEnableEvtArray PU32 IN Array n enable interrupt event for each group GpEnableEvtArray is 32 bits data type array and currently the value of n can only be 1 n long eg monon 0 DONE DONE DONE von etre wm o a 1 ai oe VH END VH END VH END Bit n 1 Enable event Bit n 0 Disable event Note For EVT GPn MOTION DONE nis GrouplD It can be got form PAR GpGrouplD property AxArrayElements U32 IN number of AxEvtStatusArray elements GpArrayElements U32 IN number of GpEvtStatusArray elements Return Value Error Code Comments After enable some events of axis or groups the event status can be get from Acm CheckMotionEvent PCI 1285 1285E User Manual 100 6 3 2 9 Acm DevDownloadCAMTable Format U32 Acm DevDownloadCAMTable HAND DeviceHandle U32 CamTablelD PF64 pMasterArray PF64 pSlaveArray PF64 pPointRangeArray PF64 pPointSlopeArray U32 ArrayElements Purpose This function downloads a CAM table profile which describes the ratio relationship of leading and f
26. DeviceHandle HAND IN Device handle from Acm DevOpen DoChannel U16 IN DO channel 0 7 BitData PU8 OUT Returned value 0 or 1 Return Value Error Code Comments PCI 1285 1285E do not support DO 111 PCI 1285 1285E User Manual 6 3 3 2 Analog Input Output 6 3 3 2 1 Acm DagAiGetRawData Format U32 Acm DagAiGetRawData HAND DeviceHandle U16 AiChannel PU16 AiData Purpose Get the binary value of an analog input value Parameters Name Type In or Out Description DeviceHandle HAND IN Device handle from Acm DevOpen AiChannel U16 IN Al channel 0 or 1 AiData PU16 OUT Pointer to the returned binary Al value Return Value Error Code Comments PCI 1285 1285E do not support Al functions In PCI 1265 there are two Al channels 0 and 1 The channel can be set to Single Ended or Differential through CFG DagAiChanType property If it is set to Single Ended users can get Al value through any channel if it is set to Differential users can only get Al value through Channel 1 6 3 3 2 2 Acm_DagAiGetVoltData Format U32 Acm DagAiGetVoltData HAND DeviceHandle U16 AiChannel PF32 AiData Purpose Get the actual analog input value Parameters Name Type In or Out Description DeviceHandle HAND IN Device handle from Acm DevOpen AiChannel U16 IN Al channel 0 or 1 AiData PF32 OUT Pointer to the returned analog value Return Value Error Code Comments PCI 1
27. Ext Preset Num The number of output driving pulses when an active edge of input pulse is accept in JOG mode Ext Pulse In Mode Sets the pulse input mode for external drive HLMT HLMT Enable Enables Disables the hardware limit signal HLMT Logic Sets the active logic for hardware limit signal HLMT React Sets the reacting mode for hardware limit sig nal Home Home Ex Mode Sets the stopping modes for HomeEx Home Cross Distance Sets the home cross distance Unit Pulse for homing Home Ex Switch Sets the stopping condition for HomeEx Mode ORG Logic Sets the active logic for ORG signal EZ Logic Sets the active logic for EZ signal Home Reset Enable Enables Disables reset logical counter after homing for source axis ORG React Sets the reacting mode for ORG signal In Position Inp Enable Enables Disables In Position function for source axis Inp Logic Sets the active logic for In Position signal Latch Latch Enable Enables Disables latch function for source axis Latch Logic Sets the active logic for latch signal Pulse In Pulse In Mode Sets the encoder feedback pulse input mode for source axis Pulse In Logic Sets the active logic for encoder feedback pulse input signal Pulse In Source Sets the source for encoder feedback pulse input signal Pulse In Max Sets the maximum freguency of encoder Freguency pulse input signal Pulse Out Pulse Out Mode Sets the command pulse output mode for Source axis SD SD Enabl
28. Proiects Browse Recent TE OD O Public 0 sebak S ADYMOT a11 EN Advilot APT dll v XZA AddlotAPI al TFH T Component Files dll tlb olb ocx exe man vi OK Cancel c Right click on the Edit interface select View Code to enter the program source code compilation interface as follows 8 Lock Controls iS ip Properties PCl 1285 1285E User Manual 84 d Add using Advantech Motion under original referred namespaces as follows l Busing System 2 using System Collections Generic 3 using System ComponentModel 4 using System Data 5 using System Drawing 5 using System Text l using System Windows Forms gil a sing Advantech Motion 3 Coding a Ul design Double click Form1 cs or right click to select View Designer on Form1 cs then the UI edit interface will appear as follows od Solution Test Advantech Motion 1 proj A Test Advantech Motion H dg Properties H sij References ES iy Open E Open With cf Ps E View Code El vem Po View Class Diagram Exclude From Project You can drag any Control Component you need from the left Toolbox to edit user interface as follows Toolbox v 1 x Formi cst Forml cs Design Start Page All Windows Foras a R Pointer 5 Background orker 7 BindingNavi gator ty BindingSource O O O CETE EEN CheckBox 9 s C
29. and I O status Alarm SLMTP N and etc EF Axis Status Information Motion Status State Error Status Velocity Actual Position Command Position SIMT Move Test The operation is as follows Move Test After motion mode is selected click lt or gt the axis will do P to P Continue Homing movement in negative or positive direction After the movement velocity reaches VelHigh in point to point motion you can click Move Impose to generate a superimposed movement the distance of the imposed movement is the value of New Pos and the velocity of the imposed movement is the value of New Vel You can observe specific movement speed curve through clicking Speed Chart Click Stop the motion will be stopped PCI 1285 1285E User Manual 36 5 3 6 5 3 7 5 3 8 5 3 8 1 5 3 8 2 5 3 9 Position Position Command 0 By Position status users can observe the command position and feedback position while in operation Click Reset you can reset the value to 0 Current Axis Status Current State Ready Command Velocity lo You can check the current status and command speed For details refer to the description about State in Acm_AxGetState function which is listed in Common API of Programming guide DI O Status Display the current status of 4 DI and 4 DO of the selected axis You can also operate the DO to be ON OFF DI O Status DI 3 0 DO 7 4 INS JOG IN4 JOGH IN2 RD
30. function PCI 1285 1285E do not support this API 6 3 2 15 Acm DevMDagStop Format U32 Acm DevMDagStop HAND DeviceHandle Purpose Stop recording MotionDAO related data Parameters Name Type In or Out Description DeviceHandle HAND IN Device Handle Comments PCI 1285 1285E do not support this API 6 3 2 16 Acm DevMDagReset Format U32 Acm DevMDagReset HAND DeviceHandle U16 ChannellD Purpose Clear MotionDAO related data of corresponding ChannellD Parameters Name Type In or Out Description DeviceHandle HAND IN Device Handle ChannellD U16 IN Channel ID The range is 0 3 Comments PCI 1285 1285E do not support this API 107 PCI 1285 1285E User Manual 6 3 2 17 Acm DevMDagGetStatus Format U32 Acm_DevMDaqGetStatus HAND DeviceHandle U16 ChannellD PU16 CurrentCnt PU8 Status Purpose Get MotionDAQ status of corresponding ChannellD Parameters Name Type In or Out Description DeviceHandle HAND IN Device Handle ChannellD U16 IN Channel ID The range is 0 3 CurrentCnt PU16 OUT Return current count that has been recorded Status PU8 OUT Return current status 0 Ready 1 Waiting Trigger 2 Started Comments PCI 1285 1285E do not support this API 6 3 2 18 Acm DevMDagGetData Format U32 Acm DevMDagGetData HAND DeviceHandle U16 ChannellD U16 Startlndex U16 MaxCount Pl32 DataBuffer Purpose Get all data
31. specified ratio Acm GpGetCmdVel N V Get current velocity of the group Motion Acm_GpStopDec N y Decelerated stop Stop Acm GpStopEmg N y _ Emergency stop PCl 1285 1285E User Manual 68 Group Command relative linear Acm GpMoveLinearRel y Vv interpolation Acm_GpMoveLinearAbs N y Command absolute near interpolation Acm_GpMoveCircularRel N X _ Command relative arc interpolation Acm GpMoveCircularAbs N X command LU interpolation Acm GpMoveCircularRel 3P y X Command PINE Ion interpolation Acm GpMoveCircularAbs 3P y X ammang APOENA interpolation Complete circular interpolation Acm GpMoveCircularRel Ang through relative center V X le coordinates and angle amp direction of rotaion Interpolati on Motion Complete circular interpolation Acm GpMoveCircularAbs An through absolute center V X w gle coordinates and angle amp direction of rotaion Acm GpMoveDirectAbs N 4 Command absolute directlinear interpolation Acm GpMoveDirectRel a N Command relative direct linear interpolation Acm_GpMoveHelixRel y X Oman SAN interpolation Acm GpMoveHelixAbs y x Command absolute helix interpolation Acm_GpMoveHelixRel_3P ai Xx Command relative 3 point helix interpolation Acm GpMoveHelixAbs 3P N X Command absolute 3 point helix interpolation Acm GpAddPath N y Add one path into system buffer Acm GpResetPath N v _ Reset path system buffer
32. 0 axis 0 1 axis 1 Not support 2 axis 2 Not support 3 axis 3 Not support Comments In PCI 1285 1285E only support 0 PCI 1285 1285E User Manual 212 6 4 3 2 15 2 CFG AxExtPulseNum Data Type U32 R W RW PropertylD 613 Meaning Set command pulse number when axis external drive mode is MPG and the A B or B A phase signal is triggered Comments In this PCI 1285 1285E the default value is 1 This value must be larger than zero 6 4 3 2 15 3 CFG AxExtPulselnMode Data Type U32 R W RW PropertylD 617 Meaning Set get external drive pulse input mode Value Description 0 1XAB 1 2XAB 2 4XAB 3 CCW CW Comments 6 4 3 2 15 4 CFG AxExtPresetNum Data Type U32 R W RW PropertylD 618 Meaning Set get pulse number of external drive when an active edge of input pulse is accept in JOG mode Comments In PCI 1285 1285E the default value is 1 This value must lager than zero 213 PCI 1285 1285E User Manual 6 4 3 2 16 Cam Do 6 4 3 2 16 1 CFG_AxCamDOEnable Data Type U32 R W RW PropertylD 622 Meaning Set get cam DO enable diable Value Description 0 Disabled 1 Enabled Comments CamDO and OUT4 use the same pin if the CFG AxGenDoEnable is enabled OUT4 isn t able to output CamDO signal PCI 1285E does not support this property 6 4 3 2 16 2 CFG AxCamDOLoLimit Data Type U32 R W RW PropertylD 623 Meaning
33. 1 CFG AxPPU In PCI 1285 1285E the default value is 500 000 000 6 4 3 2 2 3 CFG_AxMaxDec Data Type F64 R W RW PropertylD 555 Meaning Configure the max deceleration for the motion axis Unit PPU S Comments This property s max value FT AxMaxDec CFG AxPPU and min value 1 CFG AxPPU In PCI 1285 1285E the default value is 500 000 000 6 4 3 2 2 4 CFG AxMaxJerk Data Type F64 R W R PropertylD 556 Meaning Get max jerk configuration for the motion axis Comments In PCI 1285 1285E the value is 1 6 4 3 2 3 Pulse In 6 4 3 2 3 1 CFG AxPulselnMode Data Type U32 R W RW PropertylD 557 Meaning Set get encoder feedback pulse input mode Value Description 0 1XAB 1 2XAB 2 4XAB 3 CCW CW Comments 199 PCI 1285 1285E User Manual 6 4 3 2 3 2 CFG AxPulselnLogic Data Type U32 R W RW PropertylD 558 Meaning Set get logic of encoder feedback pulse Value Description 0 Not inverse direction 1 Inverse direction Comments 6 4 3 2 3 3 CFG AxPulselnMaxFreg Data Type U32 R W RW PropertylD 632 Meaning Set get encode max pulse in frequency Value Description 0 500KHz 1 1MHz 2 2MHz 3 4MHz Comments 6 4 3 2 4 Pulse Out 6 4 3 2 4 1 CFG AxPulseOutMode Data Type U32 R W RW PropertylD 560 Meaning Set get command pulse output mode Value Description 1 OUT DIR
34. 1 Toggle mode Comments Toggle mode inverse DO output when compare signal happens In PCI 1285 the default value is 0 PCI 1285E does not support this property 6 4 3 2 13 Latch 6 4 3 2 13 1 CFG AxLatchLogic Data Type U32 R W RW PropertylD 601 Meaning Set get the active logic for Latch signal Value Description 0 Low active 1 High active Comments When the Latch is triggered the command position actual position and lag distance will be latched PCI 1285E does not support this property 6 4 3 2 13 2 CFG AxLatchEnable Data Type U32 R W RW PropertylD 631 Meaning Enable disable latch function Value Description 0 Disabled 1 Enabled Comments PCI 1285E does not support this property 211 PCI 1285 1285E User Manual 6 4 3 2 14 Aux Gen DIO 6 4 3 2 14 1 CFG AxGenDoEnable Data Type U32 R W RW PropertylD 610 Meaning Enable disabe the axis general DO function Value Description 0 Disabled 1 Enabled Comments If property CFG AxGenDoEnable is enabled the property CFG AxCmpEnable CFG AxCamDoEnable and CFG AxErcEnableMode is disabled automatically Functions Acm AxSetCmpData Acm AxSetCmpTable Acm AxSetCmpAuto will not be able to output signal 6 4 3 2 15 Ext Drive 6 4 3 2 15 1 CFG AxExtMasterSrc Data Type U32 R W RW PropertylD 611 Meaning Set get input pin for external drive Value Description
35. 1 starts to trigger Axis 2 starts to trigger Axis 3 starts to trigger Axis 4 starts to trigger PCl1245 E does not support 8 Axis 5 starts to trigger PCI1245 E does not support 9 Axis 6 starts to trigger PCI1265 PC11245 E does not support 10 Axis 7 starts to trigger PCI1265 PC11245 E does not support 11 Axis 8 starts to trigger PC11265 PC11245 E does not support 12 Axis 9 starts to trigger PCI1265 PC11245 E does not support 13 Axis 10 starts to trigger PCI1265 PC11245 E does not support 14 Axis 11 starts to trigger PCI1265 PC11245 E does not support NOOR ON O ChanType U32 Get Channel Type 0 Command Position 1 Actual Position 2 Lag Position Difference value between Com mand Position and Actual Position 3 Command Velocity PCl1265 PC11245 E does not support Count U32 Specify a data count The range is 0 2000 Return Value Error Code Comments PCI 1285 1285E do not support this API 105 PCI 1285 1285E User Manual 6 3 2 13 Acm DevMDagGetConfig Format U32 Acm_DevMDagGetConfig HAND DeviceHandle U16 ChannellD PU32 Period PU32 AxisNo PU32 Method PU32 ChanType PU32 Count Purpose Get MotionDAO related values of a specified ChannellD Parameters Name Type In or Out Description DeviceHandle HAND IN Device Handle ChannellD U16 IN Specify to a MDag Channel to get the configura tions Th
36. 1285E User Manual EVT AX MOTION DONE N a FL happens when axis motion is EVT_AX_COMPARED N X Event happens when compare is matched EVT AX LATCH y X _ Event happens when Latch occurs EVT_AX_ERROR 4 X Event happens when an error occurs Event happens when motion Device Event SAN N N velocity reaches High Speed EVT AX VH END N J Trigger happens when motion slows down EVT_GPn_MOTION_DONE N N Event happens when group motion is done EVT GPn VH START 4 N Event happens when group motion velocity reaches High Speed EVT GPn VH END 4 N Trigger happens when group motion slows down Acm DagDiGetByte X X DAO function Acm DagDiGetBit X X i Acm DagDoSetByte X X npu sa Acm DagDoSetBit X X Acm DagDoGetByte X X DAO Acm DagDoGetBit X X Analog Acm DagAiGetRawData X X Input aren Acm_DagAiGetVoltData X X Private Acm DevReadEEPROM Ex y y _ Read EEPROM private data Data Read amp Write Acm_DevWriteEEPROM_Ex V V Write EEPROM private data PCl 1285 1285E User Manual 66 Axis Acm AxOpen N V _ Open axis SYSTEM Acm AxClose V V Close axis Acm_AxResetError y Vv Reset error when axis is error stop Acm AxSetSvOn y Open Servo Driver Motion I O Acm AxGetMotionlO N V Get status of motion 1O Motion Acm AxGetMotionStatus y Get status of current motion Status Acm
37. 1285E User Manual Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm_GpAddAxis RefArray PF64 IN Absolute position of reference point EndArray PF64 IN Absolute position of end point pArrayElements PU32 IN OUT Element count in the array This count must be equal to the axis count in this group or else it will be returned axis count in group Direction 116 IN Direction 0 DIR_CW clockwise 1 DIR_CCW counterclockwise Return Value Error Code Comments The sequence of data in RefArray and EndArray must follow the order of X axis Y axis Z axis U axis and so on For example if one group has Y axis and U axis the first data in RefArray means Y axis reference position and the second data means U axis reference position The unit of distance in RefArray and EndArray is PPU of each axis in group At most it just supports 2 axes arc interpolation in PCI 1285 PCI 1285E does not support this API 6 3 5 4 7 Acm GpMoveDirectAbs Format U32 Acm GpMoveDirectAbs HAND GroupHandle PF64 PositionArray PU32 ArrayElements Purpose Command group to execute absolute direct line interpolation Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm_GpAddAxis PositionArray PF64 IN Distance array of axis in group each value of array elements represent the axis absolute position pArrayElements PU32 IN OUT Element coun
38. 4 215 PCI 1285 1285E User Manual It is used in tangent motion and E cam motion See about Acm AxTangentlnGp Acm DevDownLoadCAMTable and Acm AxCamlnAx In PCI 1285 the default value is 0 PCI 1285E does not support this property Range 0 8 000 000 6 4 3 2 18 Simultaneity 6 4 3 2 18 1 CFG AxSimStartSource Data Type U32 R W RW PropertylD 633 Meaning Set get simultaneous starting mode for current axis Value Description 0 Disabled 1 Start Simultaneous Starting on signal from STA Pin on device Default 256 Start Simultaneous Starting with axis O s compare signal 512 Start Simultaneous Starting with axis 1 s compare signal 1024 Start Simultaneous Starting with axis 2 s compare signal 2048 Start Simultaneous Starting with axis 3 s compare signal 4096 Start Simultaneous Starting with axis 4 s compare signal 8192 Start Simultaneous Starting with axis 5 s compare signal 16384 Start Simultaneous Starting with axis 6 s compare signal 32768 Start Simultaneous Starting with axis 5 s compare signal 65536 Start Simultaneous Starting when axis O is stopped 131072 Start Simultaneous Starting when axis 1 is stopped 262144 Start Simultaneous Starting when axis 2 is stopped 524288 Start Simultaneous Starting when axis 3 is stopped 1048576 Start Simultaneous Starting when axis 4 is stopped 2097152 Start Simultaneous Starting when axis 5 is stopped 4194304
39. 6 12 Add Head Files Path c Set the necessary Lib file The Lib file ADVMOT lib which is corresponding to ADVMOT dll in folder system root system32 is supplied for user to develop application easily This Lib file is in Public folder after installing example package User should pay attention the path of the head files Project Settings lt 3 Source Files PCI1245APP cpp 2 StdAfx cpp G Header Files D StdAfx h Resource Files S ReadMe ba Settings For Win32 Debug v General Debug C C Link Resources Bi Reset Category General Output file name Debug PCl1245APP cxe v Generate debug info F Link incrementally F Enable profiling Ignore all default libraries Generate mapfile Project Options comdlg32 lib advapi32 lib shell32 lib ole32 lib joleaut32 lib uuid lib odbc32 lib odbccp32 lib Cancel Figure 6 13 Setting Lib File Path When finish the project setting user can build this project if build successfully 4 Write the code include stdafx h include lt wtypes h gt PCl 1285 1285E User Manual 76 include lt stdio h gt include AdvMotApi h define MAX CNT 100 int main int argc char argv ULONG errcde HAND devHandle HAND axHandle MAX_CNT ULONG devNum devCnt buffLen axisCntPerDev USHORT i DEVLIST devList MAX_CNT Step1 Get available devices by calling API Acm GetAvailableDevs errcde Acm GetAvai
40. 9 Wed Site Close T Eile Ctrl N Project From Existing Code In the new form the default language is Visual CH select Windows Application template Configure the Name Location and Solution Name Same as Name by default and then click OK 83 PCI 1285 1285E User Manual Hew Project Project types Templates 3 Visual Cf Visual Studio installed templates LEET CLE E Smart Device GflYindews Application Class Library Database GAYindows Control Library Gated Control Library Starter Kits BConscle Application GFAindows Service 4 Other Languages N Bs E Other Project Types Ea Eapty Project FAtrystad Reports Application By Teaplates 39Seareh Online Templates A project for creating an application with a Windows user interface Home WindowsApplication3 v Location F C Projects Micreate directory for solution A44 to Soyrce Control Solution Name WindowsApplication3 2 Add relevant dll a Click References on the top right corner of development environment as follows ad Solution Test Advantech Motion 1 projec 3 A Test Advantech Motion E 2 Properties S oy References O System O System Data O System Deployment O System Drawing O System Windows Forms 2 Svstem Xml b Click Browse of the Add Reference dialog box Select AdvMotAPI dll in the Public file folder from search path then click OK as follows Add Reference oe NET COM
41. Acm_GpLoadPath N V Load a path file Acm_GpUnloadPath N v _ Unload path a Acm_GpMovePath N V _ Move path in system buffer Acm GpGetPathStatus N V _ Get current path status Acm_GpMoveSelPath N V _ Move assigned range paths Acm GpGetPathlndexStatus N V _ Get status of assigned index path 69 PCI 1285 1285E User Manual 6 2 5 Property Support List Type Property PCI 1285 PCI 1285E Feature FT DevlpoTypeMap N N FT DevAxesCount FT DevFunctionMap FT DevOverflowCntr FT DevMDAOTypeMap FT DevMDAOTrigMap FT DevMDAOMaxChan FT DevMDAOMaxBufCount Device Configure CFG DevBoardlD CFG DevBaseAddress CFG Devlnterrupt CFG DevBusNumber CFG DevSlotNumber CFG DevDriverVersion CFG DevDllVersion CFG DevFirmVersion CFG DevCPL DVersion Feature DAQ FT_DaqDiMaxChan FT_DaqDoMaxChan FT_DaqAiRangeMap FT_DaqAiMaxSingleChan FT_DaqAiMaxDiffChan FT_DaqAiResolution Configure CFG_DaqAiChanType CFG_DaqAiRanges Axis System FT_AxFunctionMap CFG_AxPPU CFG_AxPhyID Lj e e X X X X X X X X ej e a ae a ae ej e SY e 2 2 2 2 2 Lj e e X X X X X X X X ej e a ae a ae ej e Sy S e 2 2 2 2 2 PCI 1285 1285E User Manual 70 FT AxMaxVel FT AxMaxAcc FT AxMaxDec FT AxMaxJerk CFG AxMaxVel CFG
42. Ax Ax Channel_3 10 is 0 M MQ TRIG DISABLE Y Cad Position Y 2000 2 Function Opeartions MDAQ Start Start motion data acquisition function When trigger conditions are met the acquisition of motion data will be started MDAQ Stop Stop motion data acquisition Clear Clear curve of each channel 3 Curve Display When MDAQ Start is started data acquisition will be started when trigger condi tions are met You can check current sample count the status of each channel which is shown as below PCI 1285 1285E User Manual 26 Motion DAQ Config Status ChannelID Period AxisNo Method Count Status Channel 10 iz 0 M MO TRIG SY Channel 1 10 Channel 2 10 Channel 3 ChanType CurCount M Cad Position 2000 337 Started Ax Axis O M MO TRIG SY Axis_O M MR TRIG SY Ax 10 When data acquisition is finished the curve of corresponding acquisition data of each channel will be displayed in the below picture box which is shown as bleow 4 Display Display area in the uppper right corner is to configure the color of each channel curve and the max value of vertical coordinate of picture box Select a color from combo box then the color of corresponding curve will be changed 5 2 2 7 Hide Tree This button is provided to hide show Device Tree If Device Tree is currently shown click the button to hide it and the text on the button will change to Show Tree If Device Tree i
43. Axis PCI 1285E M14 6 Axis PCI 1285E M14 T Axis 5 3 2 Motion Params Set After finishing the parameter setting for operation click Set Parameters to save the values to device 5 3 2 1 Basic Parameter Setup It s mainly about the settings of distance Distance in point to point movement initial velocity VelLow movement velocity VelHigh acceleration Acc and deceleration Dec in single axis motion movement distance New Pos and velocity New Vel in superimposed movement Move Impose 5 3 2 2 Speed Pattern Set the speed pattern of movement which can be trapezoidal pattern Trapezi or S type S curve 5 3 2 3 View Set Range Click View Set Range to check or set the maximum velocity acceleration and decel eration The dialog will show as follow PCI 1285 1285E User Manual 28 5 3 2 4 5 3 2 5 E Max Speed Paramters Setup Max Velocity Range 0 5000000 Max Acceleration 50000000 00 Range 1 500000000 Max Deceleration 50000000 00 Range 1 500000000 4000000 00 Note VelHigh in Single axis Motion can not be greater than the Max Velocity Acc can not be greater than the Max Acceleration and Dec can not be greater PPU S PPU S PPU S than the Max Deceleration Move Mode Select Move Mode There are three move modes in single axis motion P to P point to point motion Continue constant speed continuous motion Homing homing motion Speed Chart By clicking Speed Ch
44. AxisHandle PF64 TableArray 132 ArrayCount Purpose Set compare data list for the specified axis Parameters Name Type In or Out Description AxisHandle HAND JIN Axis handle from Acm AxOpen TableArray PF64 IN Compare data table Unit PPU ArrayCount 132 IN Compare data count in the table Return Value Error Code Comments If property CFG AxCmpMethod is set to MTD GREATER POSITION the first data in table should be greater than current position command position or actual position and the compare data should be greater than last compare data in table After setting the compare table the first data will be loaded to comparator and if the current position matches the comparator pulse will be generated the next compare data will be loaded to comparator automatically If property CFG AxCmpMethod is set to MTD SMALLER POSITION the first data in table should be smaller than current position command position or actual position and the compare data should be smaller than last compare data in table The first data will be loaded to comparator and if the current position matches the comparator pulse will be generated the next compare data will be loaded to comparator automatically Before setting compare data set property CFG AxCmpEnable to CMP Enable first If you want to close compare function you only need to set property CFG AxCmpEnable to CMP Disable and nothing is necessary to clear compare data You can set CFG AxCmpSrc to
45. Data Type Redefinition The table of redefinition of data types and windows common data types is as follows New Type Windows Data Type Comments U8 UCHAR 8 bit unsigned integer U16 USHORT 16 bit unsigned integer U32 ULONG 32 bit unsigned integer U64 ULONGLONG 64 bit unsigned integer 18 CHAR 8 bit signed integer 116 SHORT 16 bit signed integer 132 INT 32 bit signed integer 164 LONGLONG 64 bit signed integer F32 FLAOT 32 bit Floating point variable F64 DOUBLE 64 bit Floating point variable PU8 UCHAR Pointer to 8 bit unsigned integer PU16 USHORT Pointer to 16 bit unsigned integer PU32 ULONG Pointer to 32 bit unsigned integer PU64 ULONGLONG Pointer to 64 bit unsigned integer PI8 CHAR Pointer to 8 bit signed integer Pl16 SHORT Pointer to 16 bit signed integer PI32 INT Pointer to 32 bit signed integer Pl64 LONGLONG Pointer to 64 bit signed integer PF32 FLAOT Pointer to 32 bit Floating point variable PF64 DOUBLE Pointer to 64 bit Floating point variable The initial character F l U represents the data type and the digital represents the length of data PCI 1285 1285E User Manual 54 6 1 2 6 1 4 About Error Code Every API in Common Motion Architecture will get a returned code when it is called The returned code represents a calling result About the detail error code see about Appendix User can get error message according to the
46. E Gear V V E CAM Error check Error status Watchdog y N CAM DO Position window output N Posi latch N Simultaneously Start Stop Simultaneously Start Stop N Axes Axes stop N N Interrupt Group Group stop N N Single Compare Up to 8 channels N Trigger Table Up to 2 channels N Function Compare Linear Compare Table size 100 K points N PCI 1285 1285E User Manual 236 Appendix B Specifications B 1 Axis Item Number of axis Description 8 Type of control output Pulse B 2 Digital Input Item Description Channels LMT LMT ORG INP ALM EMG LTC RDY Type One terminal opto isolated L max 4Vdc Input voltage H min 10Vdc H max 30Vdc Max input delay time 150us Protection 2 500V Isolation Input resistance 8 4kKO B 3 High Speed Digital Input Channels JOG JOG Type One terminal opto isolated L max 3Vdc Input voltage H min 10Vdc H max 30Vdc Max input delay time 1us Protection 2 500V Isolation Input resistance 8 4kO B 4 Digital Output Item Description Channels SVON ERC CAM DO CMP Type One terminal opto isolated sink type Low 10Vdc Operation Voltage High 30Vdc Max sink current 60mA per channel Max output delay time 15us Protection 2 500V Isolation PCI 1285 1285E User Manual 238 B 5 Pulse Input Item Description Ma
47. Load CAMTable File to choose binary file the CAM Table will be saved in the hard drive Note Before you save you should set up the CAMTablelD first The value is O or 1 After you execute this step the CAMTablelD cannot be changed before you dissolve the syncrhonozation relation 5 5 1 4 2 Download CAMTable If CAM Table has edited in CAM Editor you can use Download CAMTable to save the CAM Table into hard drive Note Before you save you should set up the CAMTablelD first The N value is O or 1 After you execute this step the CAMTablelD cannot be changed before you dissolve the syncrhonozation relation 47 PCI 1285 1285E User Manual 5 5 1 4 3 Configuration Configure cam motion and establish cam synchronization CAM Motion Configuration CamTable ID 0 v Camming Type Non periodic W Master Movement Mode Slave Movement Mode O Absolute 9 Relative Absolute 9 Relative MasterOffset O SlaveDffset U MasterScaling 1 SlaveScaling 1 Reference Source Download CAMTable G O 3 Command Pos _ Feedback Pos CAM In Before the establishment of cam synchronization you need to configure the following parameters 1 Camming Type a Non periodic non circular pattern If you select this mode after the Master axis runs a complete cycle the Slave axis will no longer follow the Master axis according to CAM curve b Periodic circular pattern If you select this mode the Slave axis will always follow
48. Note E This function is not supported by PCI 1285E Input for this column in Utility is not allowed 45 PCI 1285 1285E User Manual 5 5 1 4 CAM Editor Click CAM Editor the following dialog will show up CETE MedaleRange 10000 Puse Change atisa Mode Left upper corner is E CAM curve graphic box left lower corner is Velocity curve graphic box right upper corner is CAM Table right lower corner is operation panel 1 Operation Mode a Add Point you can directly add CAM points on the E CAM Curve Whenever you add one point CAM Curve will be redrawed Wherein CAM Point is espressed with a small red solid circle and CAM Curve is expressed with blue curve In this operation mode the shape of the mouse is cross When the form is opened first time or the CAM curve has not been edited the operation mode is Add Point mode by default b Select Point you can select the corresponding CAM Point to drag and drop At the same time CAM Curve will be changed accordingly In this operation mode the shape of the mouse is arrow When the form is opened again or the CAM curve has been edited the default operation mode is Select Point mode 2 CAM Table The CAM Table formed by edited CAM Point is shown on the top right It is note worthy that the X_Pos and Y_Pos of the first row of CAM Table that is the first CAM Point must be zero which means the Master axis s starting position is 0 the Slave
49. Panasonic MINAS A servo m PCL 10153YS5 PCL 10153YS5 is a 50 pin cable connecting ADAM 3956 to Yaskawa Sigma V servo m PCL 10153MJ3 PCL 10153MJ3 is a 50 pin cable connecting ADAM 3956 to Mitsubishi J3 servo m PCL 10153DA2 PCL 10153DA2 is a 50 pin cable connecting ADAM 3956 to Delta A2 servo 3 PCI 1285 1285E User Manual PCI 1285 1285E User Manual Installation This chapter instructs users how to proceed step by step process for driver and hardware installa tion 2 1 2 2 Unpacking After receiving your PCI 1285 1285E package inspect the contents first The pack age should include the following items m PCI 1285 1285E card m CD ROM DLL driver amp user manual included The PCI 1285 1285E card has certain electronic components vulnerable to electro static discharge ESD ESD could easily damage the integrated circuits and certain components if preventive measures are not carefully taken Before removing the card from the antistatic plastic bag you should take following precautions to ward off possible ESD damage m Touch the metal part of your computer chassis with your hand to discharge static electricity accumulated on your body Or one can also use a grounding strap m Touch the antistatic bag to a metal part of your computer chassis before opening the bag m Hold of the card only by the metal bracket when taking it out of the bag After taking out the card you should first m Inspect the card
50. Source ID 1 3 _ To develop applications with Microsoft Visual Studio 2008 2010 Method 1 Copy app manifest from examples to the project as in VS2005 Method 2 Directly change settings of project privilege management Click Proj ect Properties gt Configuration Properties gt Linker gt Manifest File gt UAC Execution Level gt reguireAdministrator Method 3 Check the Enable ClickOnce Security Setting option in Security column of Project perperties and the Manifest file will be automatically gener ated under Properties Open the Manifest file and change the content marked by the red box in the following image to lt requestedExecutionLevel level reguireAdministrator uiAccess false gt Uncheck the Enable Click Once Security Setting option in Security column of Project properties PCI 1285 1285E User Manual 56 lt requestedPrivileges xnlns urn schenas microsoft com asm v3 gt lt t UAC Manifest Options If you want to change the Windows User Account Control level replace the requestedExecutionLevel node with one of the following lt reguestedExecutionLevel level asInvoker uifccess false gt lt reguestedExecutionLevel level reguirendministrator uinccess False gt lt reguestedExecutionLevel level highestfvailable uiftccess false gt Specifying reguestedExecutionLevwel node will disable file and registry virtualization If you want to utilize File and Registry Virtuali
51. W RW PropertylD 564 Meaning Enable disable In Position function Value Description 0 Disabled 1 Enabled Comments In PCI 1285 1285E the default value is 0 6 4 3 2 6 2 CFG AxlnpLogic Data Type U32 R W RW PropertylD 565 Meaning Set get the active logic for In Position signal Value Description 0 Low active 1 High active Comments In PCI 1285 1285E the default value is 1 PCI 1285 1285E User Manual 202 6 4 3 2 7 ERC 6 4 3 2 7 1 CFG AxErcLogic Data Type U32 R W RW PropertylD 566 Meaning Set get active logic for ERC signal Value Description 0 Low active 1 High active Comments In PCI 1285 1285E the default value is 1 6 4 3 2 7 2 CFG AxErcEnableMode Data Type U32 R W RW PropertylD 569 Meaning Set get ERC out mode or diable ERC function Value Description 0 Disabled ERC Output when home finish 1 2 ERC Output when EMG ALM EL active Not support 3 ERC Output when home finish or EMG ALM EL active Not support Comments In PCI 1285 1285E the default value is 1 6 4 3 2 8 Hardware Limit 6 4 3 2 8 1 CFG AxElReact Data Type U32 R W RW PropertylD 576 203 PCI 1285 1285E User Manual Meaning Set get the reacting mode of EL signal Value Description 0 Motor immediately stops 1 Motor decelerates then stops Comments In PCI 1285 1285E the
52. active it 1 STA AxReady Axis is ready and waiting for new command 2 STA Stopping Axis is stopping 3 STA AxErrorStop Axis has stopped because of error 4 STA AxHoming Axis is executing home motion 5 STA_AxPtpMotion Axis is executing PTP motion 6 STA_AxContiMotion Axis is executing continuous motion 7 STA_AxSyncMotion Axis is in one group and the group is executing interpolation motion or axis is slave axis in E cam E gear Gantry motion 8 STA_AX_EXT_JOG Axis is controlled by external signal and will exe cute JOG mode motion once external signal is active 9 STA_AX_EXT_MPG Axis is controlled by external signal and will exe cute MPG mode motion once external signal is active Return Value Error Code Comments PCI 1285 1285E User Manual 116 6 3 4 4 Velocity Motion 6 3 4 4 1 Acm AxMoveVel Format U32 Acm AxMoveVel HAND AxisHandle U16 Direction Purpose To command axis to make a never ending movement with a specified velocity Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Direction U16 IN Direction 0 Positive direction 1 Negative direction Return Value Error Code Comments The speed curve is decided by properties PAR_AxVelLow PAR AxVelHigh PAR AxAcc PAR AxDec and PAR AxJerk 6 3 4 4 2 Acm AxChangeVel Format U32 Acm AxChangeVel HAN
53. cam configure can be set by Acm DevConfigCAMTable After all of above slave axis will be synchronous status if calls Acm AxCamlnAx successfully Then slave axis will follow mater axis to move The parameter MasterScaling SlaveScaling MasterOffset SlaveOffset are used to ajust current Camtable based on edited CamTable The figures about scalling and offset are as follow MasterScating 1 0 MasterScalng 1 0 Dn Ssvescsing 10 7 SlaveScaling gt 2 0 Mederos 00 MasterOrisel 00 SiaveCtf2et 00 SlaweOffset 0 0 Master MasterSscaling 20 MesterSrefing 06 6 SlavaScsing 1 0 SaveScaing 1 0 MasterOffset 00 MacterOtfest 0 0 woottset 00 Siavattteat SlaveOttset 0 0 SlaveOtiset OD MasterScalng 1 0 MasterScalng 1 0 amp SlaveScaling 1 0 6 SlaveScalng 1 0 MasterOtiset 0 0 MasterOffset 200 0 SlaveOffset 60 0 StaveOtiset OO About detail E Cam operation see E Cam Flow Chart in Chapter 6 2 2 See Also Acm DevDownLoadCAMTable Acm DevCofigCAMTable Acm DevLoadCAMTableFile PCI 1285 1285E do not support this API 6 3 4 13 2 Acm AxGearlnAx Format U32 Acm AxGearlnAx HAND AxisHandle HAND MasAxisHandle 132 Numerator 132 Denominator U32 RefSrc U32 Absolute Purpose This function starts gear synchronization with a ratio between a slave following axis and master leading axis PCI 1285 1285E User Manual 144 Parameters
54. change but not fre quently m CFG DevXXX For device Eg CFG_DevBoardlD m CFG AxXXXX For axis Eg CFG AxMaxVel m CFG DagXXX For DI DO AI and AO Eg CFG DagDiMaxChan m CFG GpXXXX For group object Eg CFG GpAxislnGroup Parameter The values of parameter properties may change frequently m PAR DevXXX For device m PAR AxXXXX For axis Eg PAR AxVelLow m PAR DagXXX For DI DO AI and AO m PAR GpXXXX For group Eg PAR GpGrouplD PCI 1285 1285E User Manual 20 Utility This chapter is to describe the comprehensive amp graphical utility 5 1 Introduction The utility is developed with Net control library according to Common Motion API architecture The Net control library includes control Device Axis Group and com ponent AxisSetup View AxisScopeView AxisDiagView GroupPathView and Group SpeedView The new utility is consistent and compatible with old AdvMotionUtility The new utility supports PCI 1220U PCl 1240U PCI 1245 1245V 1245E 1265 1285 1285E series products 5 1 1 Contents Mainly according to the order of operations the following interfaces will be intro duced 1 Main Form includes Main Menu Toolbar and Device Tree 2 _Single axis Motion focuses on the I O and attribute configuration and status and movement operations P to P Continue Homing of single axis 3 Multi axis Motion focuses on multi axis Group interpolation operation includ ing the basic interpolation Line
55. deceleration unit PPU s 2 Return Value Error Code Comments NewVelocity should not exceed the maximum specified by CFG AxMaxVel NewAcc should not exceed the maximum acceleration specified by CFG AxMaxAcc and NewDec should not exceed the maximum decelera tion specified by CFG AxMaxDec If NewAcc or NewDec is 0 then the previous acceleration or deceleration can be used If this command runs successfully then NewVelocity will be used in next motion in case the velocity is not specified before the motion PCI 1285 1285E User Manual 118 NewDec Old Acc ChangeV 6 3 4 4 5 Acm AxChangeVelExByRate Format U32 Acm AxChangeVelExByRate HAND AxisHandle U32 Rate F64 NewAcc F64 NewDec Purpose Change the velocity acceleration and deceleration simultaneously in motion status Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Velocity U32 IN Percentage of velocity change NewVel OldVel Rate 0 01 NewAcc F64 IN New acceleration unit PPU s 2 NewDec F64 IN New deceleration unit PPU s 2 Return Value Error Code Comments NewVel OldVel Rate 0 01 The NewVel value caculated by Rate should not exceed the maximum specified by CFG AxMaxVel NewAcc should not exceed the maximum acceleration specified by CFG_AxMaxAcc and NewDec should not exceed the maximum deceleration specified by CFG_AxMaxDec If NewAcc or NewDec is
56. default value is 1 6 4 3 2 8 2 CFG AxElLogic Data Type U32 R W RW PropertylD 575 Meaning Set get active logic for hardware limit signal Value Description 0 Low active 1 High active Comments In PCI 1285 1285E the default value is 1 6 4 3 2 8 3 CFG AxEIEnable Data Type U32 R W RW PropertylD 574 Meaning Set get hardware limit function enable disable Value Description 0 Disabled 1 Enabled Comments In PCI 1285 1285E the default value is 1 Please modify CFG AxElReact and CFG_AxElLogic before modifying the value of CFG_AxElEnable 6 4 3 2 9 Software Limit 6 4 3 2 9 1 CFG AxSwMelEnable Data Type U32 R W RW PCI 1285 1285E User Manual 204 PropertylD 577 Meaning Enable Disable the minus software limit function Value Description 0 Disabled 1 Enabled Comments 6 4 3 2 9 2 CFG AxSwPelEnable Data Type U32 R W RW PropertylD 578 Meaning Enable Disable the plus software limit Value Description 0 Disabled 1 Enabled Comments 6 4 3 2 9 3 CFG AxSwMelReact Data Type U32 R W RW PropertylD 579 Meaning Set get the reacting mode of minus software limit Value Description 0 Motor immediately stops 1 Motor decelerates then stops Comments In PCI 1285 1285E the default value is 1 6 4 3 2 9 4 CFG AxSwPelReact Data Type U32 R W RW Property
57. equipment eg sensor to home The axis moves continuously until the limit signal occurring There are two states STATUS1 If the object is out of the field of EL signal the axis will move until EL signal occurring STATUS2 If the object is in the field of EL signal there will be no response Note About a b c d s meaning in graph please click button You can select any mode listed in the comobox there is corresponding illustration below You can click OK to select the mode in the HomeMode combobox or click Cancle to cancle the operation The default setting is Mode1_Abs Click the pop up dialog will show up the dialog will give the explanation for the parameters in the home mode The example figure is as follows a b c d in the graph have following meanings a Axis does PTP Movement in Trapezia mode until ORG EL signal occurring b xis does PTP Movement in Trapezia mode with HomeCrossDistance as distance unit until ORG EL signal di sappears ciAxis does Continuous movement with VelLow and stops immediately when ORG EL signal occurs d Axis does Continuous movement with VelLow with HomeCrossDistance as distance unit until ORG EL signal disappears The small black solid dot represents the end point of a movement Note The Velocity of PTP Movement in Trapezia mode will be accelerated from VelLow to VelHigh with Acc at the beginning if the distance is long enough and decelerated from VelHig
58. for any possible signs of external damage loose or damaged components etc If the card is visibly damaged notify our service department or the local sales representative immediately Avoid installing a damaged card into your system Also pay extra attention to the followings to ensure a proper installation m Avoid physical contact with materials that could hold static electricity such as plastic vinyl and Styrofoam m Whenever you handle the card grasp it only by its edges DO NOT TOUCH the exposed metal pins of the connector or the electronic components Driver Installation We recommend you to install the driver before you install the PCI 1285 1285E card into your system The DLL driver setup program for the card is included on the companion CD ROM that is shipped with package Follow the steps below to install the driver software 1 Insert the companion CD ROM into your CD ROM drive 2 _ The setup program will be launched automatically if you have the autoplay func tion enabled on your system Note Ifthe autoplay function is not enabled on your computer use Windows w Explorer or Windows Run command to execute SETUP EXE on the E companion CD ROM 3 Select the proper Windows OS option according to your operating system Just follow the installation instructions step by step to complete your DLL driver setup 4 Then setup the PCI 1285 1285E Motion Utility automatically PCI 1285 1285E User Manual 6 2 3 For f
59. it will be B 10 by default PCI 1285 1285E User Manual 46 3 CAM Table Operation a Delete Row delete the selected row s b Clear All clear all CAM Points except starting point and final point c Load Data insert the selected CAM Table file The file format can be binary bin or cvs readable by EXCEL d Save Data save the CAM Table The file format can be binary bin or cvs readable by EXCEL But if you want to import CAMTable through Load CAMTable File operation you need to save the CAM Table as bin format because currently the device only sup port bin file to import through Load CAMTable File 4 Add Point To add CAM Point you can also edit X_Pos Y_Pos pointRange and Slope on the lower right and click Add Point to add it 5 Change ModuleRange The master axis s revoluation pulse ModuleRange is set to be 10000 pulses by default If you want to edit you can edit in ModuleRange box and then click Change to finish After modified the horizontal maximum ordinate of E CAM Curve and Velocity Curve will be the modified value if there are edited CAM Points before change the value the X_Pos and pointRange of the CAM Points will become ModuleRange after modified Pre ModuleRange before modi fied fold 6 OK Click OK to save the CAM Table You can use Download CAMTable to save the CAM Table into hardware 7 Cancel Click Cancel to give up the editing 5 5 1 4 1 Load CAMTable File By clicking
60. line speed Mostly line interpolation is applied to the axis assembled as right angle But direct interpolation s line speed is set into master axis The smallest Physical ID axis and other axes in group start stop as the same time as master axis Mostly direct interpolation is applied to the axis assembled as oblique angle At most it just supports 3 axes linear interpolation in PCI 1285 and 2 axes linear interpolation in PCI 1285E 153 PCI 1285 1285E User Manual 6 3 5 4 3 Acm GpMoveCircularRel Format U32 Acm GpMoveCircularRel HAND GroupHandle PF64 CenterArray PF64 EndArray PU32 pArrayElements 116 Direction Purpose Command group to execute relative ARC interpolation Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm GpAddAxis CenterArray PF64 IN Axis relative distance of center point EndArray PF64 IN Axis relative distance of end point pArrayElements PU32 IN OUT Element count in the array This count must equal to the axis count in this group or else it will be returned axis count in group Direction 116 IN Direction 0 DIR_CW clockwise 1 DIR_CCW counterclockwise Return Value Error Code Comments The sequence of data in CenterArray and EndArray must follow the order of X axis Y axis Z axis U axis and so on For example if one group has Y axis and U axis the first data in CenterArray means Y axis center distance and
61. properties and corresponding property values in the category For detail refer to the description about Feature Configuration and Parameter of axis which are listed in property list of Programming guide The attributes are classified as follows Classification Name Brief Introduction Alarm Alarm Enable Enables Disables motion Alarm function for source axis Alarm Logic Sets the active logic for alarm signal Alarm React Sets the reacting mode for alarm signal PCI 1285 1285E User Manual 32 Aux Gen Output AuxOut Enable Enables Disables axis s Aux Output in group s AddPathDwell for source axis AuxOut Time Sets axis s Aux Output on time in group s AddPathDwell for source axis GenDo Enable Enables Disables axis DO as general DO function for source axis Backlash Backlash Enable Enables Disables corrective backlash for Source axis Backlash Pulses Sets the compensation pulse numbers for source axis Whenever direction change occurs the axis outputs backlash corrective pulses before sending commands Backlash Velocity Sets the velocity for backlash signal Basic Info PhylD The physical ID of source axis PPU The pulse per unit PPU of source axis It is a virtual unit You can set PPU according to actual motor This can mask the different pre cision of different motors ModuleRange Sets the module range for this axi
62. to another num ber set SW1 by referring to table 3 2 CN1A CN1B Lo DYU CN7 CN6 CN8 Figure 3 3 Location of Jumpers amp DIP Switch Table 3 2 BoardlD Setting Board ID Setting SW1 Board ID Dec Switch Position ID3 1 ID2 2 ID1 3 IDO 4 0 1 m 14 m m m 15 m m m m O Off e On default PCI 1285 1285E User Manual 12 3 3 3 4 Output Pulse CW PULS CCW DIR The pulse command has two types One is in clockwise counter clockwise mode the other is in pulse direction mode CW PULS and CW PULS are differential signal pairs and CCW DIR and CCW DIR are differential signal pairs Default setting of pulse output mode is pulse direction User can change the output mode by programming CW PULS CW PULS gt F CCW DIR gt CCW DIR o Jj Motor Driver Side Figure 3 4 Photocoupler Interface CW puLs CW PULS CCW DIR lr CCW DIR Twist pair with shield SHO T Motor Driver side Figure 3 5 Line Drive Interface Over Traveling Limit Switch Input LMT Over traveling limit switches are used for system protection This input signal is con nected through the connection of photo coupler and RC filter When the limit switch is applied the external power VEX DC 12 24 V will be the source of the photo cou pler This enables the over
63. uniform motion at VelLow It will stop immediately when it meets ORG EL signal d Trapezoid PTP motion moves at VelLow with HomeCrossDistance as distance unit until the motion finishes ORG EL signal is in effective This solid black dot means the ending point of a motion Note Features of trapezoid PTP motion When start the velocity will increase from VelLow to VelHigh with Acc If distance is long enough when end the velocity will decrease from VelHigh to VelLow with Dec PCI 1285 1285E User Manual 126 MODE1 Abs Move Dir gt touch ORG gt Stop Only according to origin eguipment eg sensor to home The object moves con tinuously until the origin signal occurring For example Dir Positive Org Logic CFG AxOrgLogic Active High EL Hard Limit switch Logic CFG AxElLogic Active High Abs ORG N ORG STATUS1 mia ORG EL ORG STATUS OFF On OFF OFF On OFF m kuo STATUS1 If the object is out of the field of ORG signal when home command is written the object will move until ORG signal occurring STATUS2 If the object is in the field of ORG signal or the direction is opposite with ORG switch the object will move until ORG signal if there are more than one ORG switch or the axis eguipment is occlusive or EL signal axis s states is error stop MODE2 Lmt Move Dir gt touch EL gt Stop Only according to limit eguipment eg sensor to home The object moves con tin
64. 0 then the previous acceleration or deceleration can be used 119 PCI 1285 1285E User Manual 6 3 4 5 The new velocity NewAcc and NewDec is only valid for the current motion NewDec ChangeV 6 3 4 4 6 Acm AxChangeVelByRate Format U32 Acm AxChangeVelByRate HAND AxisHandle U32 Rate Purpose Change the velocity of current motion according to the given rate Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Rate U32 IN Percentage of velocity change Return Value Error Code Comments NewVel OldVel Rate 0 01 Rate must be more than 0 and lower than the rate of CFG AxMaxVel to the previous velocity The new velocity is only valid for the current motion Point to Point Motion 6 3 4 5 1 Acm AxMoveRel Format U32 Acm AxMoveRel HAND AxisHandle F64 Distance Purpose Start single axis s relative position motion Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Distance F64 IN Relative distance unit PPU Return Value Error Code Comments The speed curve is decided by properties PAR AxVelLow PAR AxVelHigh PAR AxAcc PAR AxDec and PAR AxJerk The range of Distance is 2147483647 2147483647 if PPU is 1 6 3 4 5 2 Acm AxMoveAbs PCI 1285 1285E User Manual 120 Format U32 Acm_AxMoveAbs HAND AxisHandle F64 Position Purpose Start single
65. 0 ReadFileFailed 0x800000d1 PathBuflsFull 0x800000d2 PathBuflsEmpty 0x800000d3 GetAuthorityFailed 0x800000d4 GpIDAllocatedFailed 0x800000d5 FirmWareDown 0x800000d6 InvalidGpRadius 0x800000d7 InvalidAxCmd 0x800000d8 InvalidaxExtDrv 0x800000d9 InvalidGpMovCmd 0x800000da SpeedCurveNotSupported 0x800000db InvalidCounterNo 0x800000dc InvalidPathMoveMode 0x800000dd PathSelStartCantRunInSpeedForwareMode 0x800000de InvalidCamTablelD 0x800000df InvalidCamPointRange 0x800000e0 CamTablelsEmpty 0x800000e1 InvalidPlaneVector 0x800000e2 MasAxIDSameSIvAxID 0x800000e3 InvalidGpRefPlane 0x800000e4 InvalidAxModuleRange 0x800000e5 DownloadFileFailed 0x800000e6 InvalidFileLength 0x800000e7 InvalidCmpCnt 0x800000e8 JerkExceededMaxValue 0x800000e9 AbsMotionNotSupport 0x800000ea InvalidAiRange 0x800000eb AlScaleFailed 0x80002000 HLmtPExceeded 0x80002001 HLmtNExceeded 0x80002002 SLmtPExceeded PCI 1285 1285E User Manual 230 0x80002003 SLmtNExceeded 0x80002004 AlarmHappened 0x80002005 EmgHappened 0x80002006 TimeLmtExceeded 0x80002007 DistLmtExceeded 0x80002008 InvalidPositionOverride 0x80002009 OperationErrorHappened 0x8000200a SimultaneousStopHappened 0x8000200b OverflowInPAPB 0x8000200c OverflowInIPO 0x8000200d STPHappened 0x8000200e SDHappened 0x8000200f AxsiNoCmpDataLeft 0x80004001 DevEvtTimeOut 0x800
66. 04002 DevNoEvt 0x10000001 Warning_AxWaslnGp 0x10000002 Warning_GplnconsistRate 0x10000003 Warning_GplnconsistPPU 0x80005001 ERR SYS TIME OUT 0x80005002 Dsp_PropertylDNotSupport 0x80005003 Dsp_PropertylDReadOnly 0x80005004 Dsp InvalidParameter 0x80005005 Dsp DataOutBufExceeded 0x80005006 Dsp FunctionNotSupport 0x80005007 Dsp InvalidConfigFile 0x80005008 Dsp InvalidintervalData 0x80005009 Dsp InvalidTableSize 0x8000500a Dsp InvalidTablelD 0x8000500b Dsp DatalndexExceedBufSize 0x8000500c Dsp InvalidComparelnterval 0x8000500d Dsp InvalidCompareRange 0x8000500e Dsp_PropertylDWriteOnly 0x8000500f Dsp_NcError 0x80005010 Dsp_CamTablelsInUse 0x80005011 Dsp_EraseBlockFailed 0x80005012 Dsp_ProgramFlashFailed 0x80005014 Dsp_ReadPrivateOverMaxTimes 0x80005015 Dsp InvalidPrivatelD 0x80005017 Dsp LastOperationNotOver 0x80005018 Dsp WritePrivateTimeout 0x80005101 Dsp InvalidAxCfgVel 0x80005102 Dsp InvalidAxCfgAcc 0x80005103 Dsp InvalidAxCfgDec 0x80005104 Dsp InvalidAxCfgJerk 0x80005105 Dsp_InvalidAxParVelLow 231 PCI 1285 1285E User Manual 0x80005106 Dsp InvalidAxParVelHigh 0x80005107 Dsp InvalidAxParAcc 0x80005108 Dsp InvalidAxParDec 0x80005109 Dsp InvalidAxParJerk 0x8000510a Dsp InvalidAxPptValue 0x8000510b Dsp InvalidAxState 0x8000510c Dsp_InvalidAxSvOnOff 0x8000510d Dsp_InvalidAxDistance 0x800051
67. 0e Dsp_InvalidAxPosition 0x800051 Of Dsp_InvalidAxHomeMode 0x80005110 Dsp_InvalidPhysicalAxis 0x80005111 Dsp_HLmtPExceeded 0x80005112 Dsp_HLmtNExceeded 0x80005113 Dsp_SLmtPExceeded 0x80005114 Dsp_SLmtNExceeded 0x80005115 Dsp_AlarmHappened 0x80005116 Dsp_EmgHappened 0x80005117 Dsp CmdValidOnlylnConstSec 0x80005118 Dsp InvalidAxCmd 0x80005119 Dsp InvalidAxHomeDirMode 0x80005120 Dsp NotEnoughPulseForChgV 0x8000511a Dsp AxisMustBeModuloAxis 0x8000511b Dsp AxldCantSameAsMasld 0x8000511c Dsp CantResetPosiOfMasAxis 0x8000511d Dsp InvalidAxExtDrvOperation 0x8000511e Dsp AxAccExceededMaxAcc 0x8000511f Dsp AxVelExceededMaxVel 0x80005120 Dsp NotEnoughPulseForChgV 0x80005121 Dsp_NewVelMustGreaterThanVelLow 0x80005122 Dsp_InvalidAxGearMode 0x80005123 Dsp_InvalidGearRatio 0x80005201 Dsp InvalidAxCntlnGp 0x80005202 Dsp_AxInGpNotFound 0x80005203 Dsp AxislnOtherGp 0x80005204 Dsp AxCannotlntoGp 0x80005205 Dsp GplnDevNotFound 0x80005206 Dsp InvalidGpCfgVel 0x80005207 Dsp InvalidGpCfgAcc 0x80005208 Dsp InvalidGpCfgDec 0x80005209 Dsp_InvalidGpCfgJerk 0x8000520a Dsp_InvalidGpParVelLow 0x8000520b Dsp InvalidGpParVelHigh 0x8000520c Dsp InvalidGpParAcc 0x8000520d Dsp InvalidGpParDec 0x8000520e Dsp_InvalidGpParJerk PCI 1285 1285E User Manual 232 0x8000520f Dsp JerkNotSupport 0x80005210 Dsp ThreeAxNotSupport 0x80005211 Dsp DevlpoNotFinished 0x80005212 Dsp InvalidGpState 0x80005213 Dsp_OpenFileFa
68. 1 LTC X2 IN1 LTC X4_IN1 LTC X6 IN1 LTC XO IN2 RDY X2_IN2 RDY X4_IN2 RDY X6_IN2 RDY X0_ORG X2_ORG X4_ORG X6_ORG X1 LMT X3 LMT X5_LMT X7_LMT X1_LMT X3_LMT X5_LMT X7_LMT X1 IN1 LTC X3 IN1 LTC X5_IN1 LTC X7 IN1 LTC X1 IN2 RDY X3 IN2 RDY X5_IN2 RDY X7 IN2 RDY X1_ORG X3_ORG X5_ORG X7_ORG X0_INP X2 INP X4 INP X6 INP XO ALM X2_ALM X4_ALM X6_ALM XO ECA X2 ECA X4_ECA X6_ECA XO ECA X2 ECA X4_ECA X6_ECA XO ECB X2_ECB X4_ECB X6_ECB X0_ECB X2_ECB X4_ECB X6_ECB XO ECZ X2 ECZ X4_ECZ X6_ECZ XO ECZ X2_ECZ X4 ECZ X6 ECZ X1 INP X3_INP X5_INP X7 INP X1 ALM X3_ALM X5_ALM X7 ALM X1 ECA X3_ECA X5 ECA X7 ECA X1_ECA X3_ECA X5_ECA X7_ECA X1_ECB X3_ECB X5_ECB X7_ECB X1_ECB X3_ECB X5_ECB X7_ECB X1 ECZ X3_ECZ X5 ECZ X7 ECZ X1 ECZ X3 ECZ X5_ECZ X7_ECZ X0_IN3 JOG X2_IN3 JOG X4_IN3 JOG X6_IN3 JOG X0_IN4 JOG X2_IN4 JOG X4_IN4 JOG X6_IN4 JOG X1_IN3 X3_IN3 X5_IN3 X7_IN3 X1_IN4 X3_IN4 X5_IN4 X7_IN4 GND GND GND GND X0_OUT4 CAM DO X0_OUTS CMP X0_OUT6 SVON X0_OUT7 ERC XO CW PULS X2 OUTA CAM DO X2_OUT5 CMP X2_OUT6 SVON X2_OUT7 ERC X2 CW PULS X4_OUT4 CAM DO X4_OUTS CMP X4_OUT6 SVON X4_OUT7 ERC X4_CW PULS X6 OUTA CAM D X6 OUTS CMP X6_OUT6 SVON X6_OUT7 ERC X6_CW PULS XO CW PULS X2 CW PULS X4_CW PULS X6_CW PULS XO_CCW DIR X2_CCW DIR X4_CCW DIR X6_CCW DIR XO CCW DIR X2 CCW DIR X4_CCW DIR X6_CCW DIR GND GND GND GND X1_OUT4 CAM DO X1 OUTS CMP X1 OUT6 SVON
69. 10 4 CFG AxOrgReact Data Type U32 R W RW PropertylD 634 Meaning Set the ending reaction mode after finishing Home Value Description 0 Stop immediately 1 Decelerate and stop Comments 207 PCI 1285 1285E User Manual 6 4 3 2 11 Backlash 6 4 3 2 11 1 CFG AxBacklashEnable Data Type U32 R W RW PropertylD 593 Meaning Enable Disable corrective backlash Value Description 0 Disabled 1 Enabled Comments In PCI 1285 1285E the default value is 0 6 4 3 2 11 2 CFG_AxBacklashPulses Data Type U32 R W RW PropertylD 594 Meaning Set get the compensation pulse numbers Uint pulse Comments This value should be between 0 and 4095 Whenever direction change occurs the axis outputs backlash corrective pulses before sending commands In PCI 1285 1285E the default value is 0 6 4 3 2 11 3 CFG AxBacklashVel Data Type U32 R W RW PropertylD 630 Meaning Set get the velocity of corrective backlash Uint pulse s Comments In PCI 1285 1285E the default value is 0 PCI 1285 1285E User Manual 208 6 4 3 2 12 Compare 6 4 3 2 12 1 CFG AxCmpSrc Data Type U32 R W RW PropertylD 603 Meaning Get set compare source Value Description 0 Command Position 1 Actual position Comments In PCI 1285 the default value is 0 PCI 1285E does not support this API 6 4 3 2 12 2 CFG AxCmpMethod Data T
70. 18 Device Number Device number is composed of 32 bits 4th byte 3rd byte 2nd H byte 2ndLbyte istbyte Master device type ID Master device board ID Ring Slave Board ID or BaseAddr m 4 byte Master device type ID refer to master device type ID table m 3 4 g 2nd H byte Master device board ID or base address m 21 byte Master ring number used by remote device use 0 as default value for local device m 1 byte Slave board ID used by remote device use 0 as default value for local device Local Device Number 4th byte 3rd byte 2nd H byte 2nd L byte ist byte Master type ID Board ID or BaseAddr 0 0 For example one BoardID of PCI 1285E is 1 the device number Hexadecimal is 27 001 0 0 So the device number is 0x27001000 Naming Rules of API and Properties The naming rule is based on three objects Device Object Axis Object and Group Object User will find many abbreviations in APIs Table of abbreviations and their meanings is as follow Table 4 1 Abbreviations and Their Meanings Abbreviations Full Name Comments PPU Pulse Per Unit A virtual unit of motion Dev Device Ax Axis Gp Group Multiple axes Mas Master Master Axis or Master Board of device based on communicating mechanism Dag Common name of Al AO DI DO Rel Relative Abs Absolute Cmd Command Vel Velocity Acc Accelerate Dec Decelerate
71. 238 B 4 DOSCFIPIION aan sas turn ante Fu Y Fad Td FL aset 238 Pulse ImPUtissss ssa fu inan yy Ta UO YGU FYD Cd OEF nyd ct 239 B 5 LU A NYFFRYN FARF FFEFRYN 239 B 5 DOSGFIPIIOM E E Rd ddd Ynn ate 239 PUISG OUTPUT iie inyned rueta ssemailtan atk aa aaa EDDOL Cyd kanta 239 B 6 ILO nasse EE Hn RYN ASIN PHRASE FEE cre rere 239 B 6 DescriptiOTliiuun seat vahaan sn eeetan n mee man FFY dance 239 GON Chall in ns ann alaa nii samean vasa ren a Nr musaan HE TAAN NERE dees 239 B 7 UU LLETHR EN FFF FNAN a ae SHIA Kaa Tan ot mat 239 B 7 PSSM OM saci aasit massat ara A 239 3 PCI 1285 1285E User Manual PCI 1285 1285E User Manual Introduction This chapter introduces PCI 1285 1285E and lists their special fea tures and detailed specifications 1 1 1 2 PCI 1285 1285E series are DSP based SoftMotion PCI bus controller boards which are designed for electrical machine automation and traditional machine automation wide applications The board is eguipped with high performance DSP with SoftMo tion algorithm inside to perform the motion trajectory and timing control to meet the synchronization in precise movement The Advantech SoftMotion features synchronization control in gantry electronic gear and electronic CAM interpolation in linear circular and helical spiral curve continu ous movement in buffering piecewise trajectory to realize cutting movement in tan gential following to ensure the Z axes is tangent to X Y curve high speed posi
72. 285 1285E do not support Al functions In PCI 1265 there are two Al channels 0 and 1 The channel can be set to Single Ended or Differential through CFG_DagAiChanType property If it is set to Single Ended users can get Al value through any channel if it is set to Differential users can only get Al value through Channel 1 PCI 1285 1285E User Manual 112 6 3 4 Axis 6 3 4 1 System 6 3 4 1 1 Acm AxOpen Format U32 Acm AxOpen HAND DeviceHandle U16 PhyAxis PHAND AxisHandle Purpose Open specified axis and get this axis object s handle Parameters Name Type In or Out Description DeviceHandle HAND IN Device handle from Acm DevOpen PhyAxis U16 IN Physical Axis Number AxisHandle PHAND OUT Returns a pointer to the axis handle Return Value Error Code Comments Before any axis operation this API should be called firstly The physical axis number in PCI 1285 1285E 0 1 2 3 4 5 6 7 6 3 4 1 2 Acm_AxClose Format U32 Acm_AxClose PHAND AxisHandle Purpose Close axis which has been opened Parameters Name Type In or Out Description AxisHandle PHAND IN Pointer to the axis handle Return Value Error Code Comments After calling this API the axis handle cannot be used again 6 3 4 1 3 Acm AxResetError Format U32 Acm AxResetError HAND AxisHandle Purpose Reset the axis state If the axis is in ErrorStop state the state will be changed to Ready
73. 2DArcCW Rel2DArcCCw Abs3DLine Rel8DLine Abs4DLine not support 10 Rel4DLine not support 11 Abs2DDirect 12 Rel2DDirect 13 Abs3DDirect 14 Rel3DDirect 15 Abs4DDirect 16 Rel4DDirect 17 Abs5DDirect 18 Rel5DDirect 19 Abs6DDirect 20 Rel6DDirect 21 Abs3DArcCW not support 22 Rel3DArcCW not support 23 Abs3DArcCCW not support 24 RelSDArcCCW not support 25 Abs3DHelixCW 26 Rel3DHelixCW 27 Abs3DHelixCCW 28 Rel3DHelix CCW 29 GPDELAY uint ms O 0 34 O 01 S O N MoveMode U16 IN Move mode 0 No blending 1 Blending FH F64 IN High velocity delay time for GPDELAY move command driving velocity Unit PPU s of group FL F64 IN Low velocity start velocity Unit PPU s of group EndPoint DataArray PF64 IN End points Unit PPU of each axis CenPoint DataArray PF64 IN Center points Unit PPU of each axis ArrayElements PU32 IN OUT Number of array element can not be less than axis count in group or else it will be returned axis count in group Return Value Error Code Comments The group handle of every path in system buffer must be the same So if there are some unexecuted paths in system buffer and you want to add new path into it by call Acm GpAddPath the parameter GroupHandle must be the same with the first unexecuted path s group handle The current status of system path buffer can be got by call Acm GpGe
74. 4 11 Acm GpMoveHelixRel Format U32 Acm GpMoveHelixRel HAND GroupHandle PF64 CenterArray PF64 EndArray PU32 pArrayElements 116 Direction Purpose Command group to move relative spiral Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm GpAddAxis CenterArray PF64 IN Relative distance of center point EndArray PF64 IN Relative distance of end point pArrayElements PU32 IN OUT Element count in the array This count must egual to the axis count in this group or else it will be returned axis count in group Direction 116 IN Direction 0 DIR_CW clockwise 1 DIR_CCW counterclockwise Return Value Error Code Comments See about Acm_GpMoveHelixAbs PCI 1285E does not support this API 6 3 5 4 12 Acm GpMoveHelixAbs 3P Format U32 Acm GpMoveHelixAbs 3P HAND GroupHandle PF64 RefArray PF64 EndArray PU32 pArrayElements 116 Direction Purpose Command group to move absolute spiral by three specified points Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm GpAddAxis RefArray PF64 IN Absolute distance of reference point EndArray PF64 IN Absolute distance of end point pArrayElements PU32 IN OUT Element count in the array This count must egual to the axis count in this group or else it will be returned axis count in group Direction 116 IN Direction 0 DIR CW clockwise 1 DIR CCW counterclockwi
75. 4 3 Axis 6 4 3 1 Feature 6 4 3 1 1 System 6 4 3 1 1 1 FT AxFunctionMap Data Type U32 R W R PropertylD 301 Meaning Get the axis supported function 1 support 0 not support Bits Description 0 In position 1 Alarm 2 Clear the deflection counter in the servo driver 3 Slow down 4 Hardware limit switch 5 Software limit switch 6 Home sensor 7 Encode Z phase sensor 8 Backlash corrective 9 Suppress vibration 10 Home 11 Impose 12 Compare 13 Latch 14 CAMDO 15 Ext Drive 16 Simultaneous start stop 17 31 Not defined Comments 6 4 3 1 2 Speed Pattern 6 4 3 1 2 1 FT AxMaxVel Data Type F64 R W R PropertylD 302 Meaning Get axis supported max velocity Unit Pulse s PCI 1285 1285E User Manual 184 Comments In PCI 1285 1285E the value is 5 000 000 6 4 3 1 2 2 FT AxMaxAcc Data Type F64 R W R PropertylD 303 Meaning Get axis supported max acceleration Unit Pulse s Comments In PCI 1285 1285E the value is 500 000 000 6 4 3 1 2 3 FT AxMaxDec Data Type F64 R W R PropertylD 304 Meaning Get axis supported max deceleration Unit Pulse s Comments In PCI 1285 1285E the value is 500 000 000 6 4 3 1 2 4 FT AxMaxJerk Data Type F64 R W R PropertylD 305 Meaning Get axis supported max jerk Unit Pulse s3 Comments In PCI 1285 1285E the value is 1 6 4 3 1 3 Pulse In 6 4 3 1 3 1 F
76. 5 2 5 3 5 4 5 5 5 6 5 7 5 8 Introduction un J S OPINNOT EN PINI PUTOO S 22 HAN COMENS eieh ea e a aa Ta E GN nA dan vai Da 22 Main FOrTTI es iU CY y Y NN YN A Ud UY YD OO S 22 5 2 11 Main FOMmmuasesssassaamassdaa UR Lad BNN ODRO GLUD DDU nn GdOGROR DAWN DR RWAN n 22 2 22 TOODA iu TT E Y ta ED 23 5 2 3 Device TTG u aiii GYN ROEG a S 27 Single AxiS MOTION isii sa0en caries aie n aavan antaneet aia aae 28 5 3 1 Operate AXIS ne lienuueaiii ua eiv kauan dodd anoa area oninia a Kala vee dan 28 5 3 2 Motion Params S t euueu YIII IL aa aa nananana 28 53 3 OVON use Nun Un ddyd AN DAFL DY Td DAN YNOF DO 30 5 34 ConfiguratiOl0ieuLiewese dentin stents KHT dod i NC da masi 30 5 3 0 MOVE Testun iaid dau Wy NGR UWYN VON SN ona AU GWY RAF BWR yny 36 2 3 0 POSON Y MEDD 37 5 3 7 Current Axis Status eueue AIII II LL LL LL ananna 37 53 8 DVO StS etie Ydyn RY FYN aa ARAD GN Gy TN dataan 37 5 3 9 Last Error StatusS e eeueuu AIII IL LL LL LL LA saaneena 37 53 10 1 0 StatllS iu GYF TG OD TAF ET FYR WRN FY gd NU 38 Multi Axes Motion eeie YY YY YL LL ALLE LL GL aan LYNN 38 5 4 1 Operate AXeS coooiiiooe aa a aa e aa a na ana a naa naa aaaaen 39 5 4 2 Motion Params Set uueu YIII LL LL Y aa aan nananana 39 543 Motom ENAS eT WY A Kaan Gynnar YT y 39 5 4 4 Motion Operation ooooooosso YL ALL LLY LL LL ana LLY nn nLnon 39 545 Path Status isis uei Dedd Y Gi masa GRY daa R
77. AN ANT 3 Chapter2Installation5 2 1 Ua orie Uu case cea ss eave HA RH Oa PR RR FA NE HF NYFED A NN FERF NN 6 2 2 Driver Install tiOn a ue ieu Guide Ond tun Ua kaataa aa a ana ajama hoi 6 2 3 Hardware Installation oo uu AAA LAAL LL ALLA LLAI LL FF LL uu 7 Chapter3Signal Connections9 3 1 I O Connector Pin Assignments ccoooososse n aa na annan enaa aeeen 10 Figure 3 1 I O connector CN1A CN1B for PCI 1285 1285E 10 Figure 3 2 I O Connector Pin Assignment for CN1A and CN1B 10 Table 3 1 I O Connector Signal Description 11 3 2 Location of DIP SWICIS is ccccies soscccseevsvaccenhhstiscentansssaecnmeususcceneyedbarceueessetie 12 Figure 3 3 Location of Jumpers amp DIP Switch 12 Table 3 2 BoardlD Setting uoosuusssss n an nia nananana 12 3 3 Output Pulse CW PULS CCW DIR nenu 13 Figure 3 4 Photocoupler Interface uuuuossssss naene 13 Figure 3 5 Line Drive Interface cooooumumss mme enneeeen 13 3 4 Over Traveling Limit Switch Input LMT Ju aittaan 13 Figure 3 6 Circuit Diagram for Limit Input Signals 13 3 5 Position Latch LTO uiian aaa aia aa aaaea aa 14 3 6 Servo Ready Signal RDY ceosssusssses akan nananana nananana 14 3 7 Home Position ORG assvsataimmstas alaan aaae dasa O DYNN astr eystaat eaa 14 3 8 In Position Singal INP cccooosssss smetanaa naan naamaan aan annan nanna
78. Arc Helix continuous interpolation Path and tangent follow motion 4 Synchronized Motion focuses on synchronized motion operations including electronic CAM E CAM electronic gear E Gear and gantry Gantry move ment 5 Digital Input displays device s input status Digital Output displays device s output status 7 Analog Input displays device s analog input status 5 2 Main Form a Advantech Common Motion Utility Varsion 2 2 3 1 File Language Vien Help o a 2 E amp N ei hb Install Refresh Save Load 2 My Syetan W FCI 1295 NT arr AD ANTECH Enabling an Intelligent Planet AD ANTECH Enabling an Intelligent Planet IV x ready 2013 2 5 2 1 Main Form 5 2 1 1 File Lane Exit Click Exit to terminate this process PCI 1285 1285E User Manual 22 5 2 1 2 Language M View Help English Simplified Chinese Traditional Chinese Through this menu language in Utility can be switched This utility supports three languages English simplified Chinese and traditional Chinese After you select a language the corresponding menu item will be checked When you close the Utility the language you selected will be saved to register When opened next time the util ity s language will be last used one 5 2 1 3 View VTS Help v Toolbar v Status Bar v Device Tree This menu allow users to display hide the toolbar status bar and device tree If Tool bar Status Bar D
79. AxMaxAcc N N N N N N N N N N V V CFG AxMaxDec N y CFG AxMaxJerk N N PAR AxVellow N N PAR AxVelHigh N V PAR AxAcc N N PAR AxDec N N PAR AxJerk N N FT AxPulselnMap N N FT AxPulselnModeMap N V Pulse IN CFG_AxPulselnMode V V Axis CFG_AxPulselnLogic y y CFG_AxPulselnMaxFreq y y FT AxPulseOutMap N N Pulse OUT FT AxPulseOutModeMap y y CFG AxPulseOutMode N N FT AxAlmMap N V CFG_AxAlmLogic N N Alarm CFG AxAlmEn N N CFG AxAlmReact N y FT AxlInpMap N V In Position CFG_AxlnpEnable y y CFG AxlnpLogic N V FT_AxErcMap V V FT_AxErcEnableModeMap V V ERC l CFG_AxErcLogic N y CFG_AxErcEnableMode N V SD FT_AxSdMap y y 71 PCI 1285 1285E User Manual FT AxEIMap Hardware Limit CFG AxElReact CFG AxElLogic CFG AxEIEnable FT AxSwMelMap FT AxSwPelMap CFG AxSwMelEnable CFG AxSwPelEnable Software Limit CFG AxSwMelReact CFG AxSwPelReact CFG AxSwMelValue CFG AxSwPelValue Home Axis FT AxHomeMap CFG AxOrgLogic CFG AxEzLogic CFG AxHomeResetEnable PAR AxHomeCrossDistance PAR AxHomeExSwitchMode FT AxBacklashMap BackLash CFG AxBacklashEnable CFG AxBacklashPulses CFG AxBacklashVel FT AxCompareMap CFG AxCmpSrc CFG AxCmpMethod Compare CFG AxCmpPulseMode CFG_AxCmpPulseLogic CFG_AxCmpPulseWidth
80. AxSdEnable 0x8000005e InvalidAxSdLogic 0x8000005f InvalidAxSdReact 0x80000060 InvalidAxSdLatch 0x80000061 InvalidAxHomeResetEnable 0x80000062 InvalidAxBacklashEnable 0x80000063 InvalidAxBacklashPulses 0x80000064 InvalidAxVibrationEnable 0x80000065 InvalidAxVibrationRevTime 0x80000066 InvalidAxVibrationFwdTime 0x80000067 InvalidAxAlarmReact 0x80000068 InvalidAxLatchLogic 0x80000069 InvalidFwMemoryMode 0x8000006a InvalidConfigFile 0x8000006b InvalidAxEnEvtArraySize 0x8000006c InvalidAxEnEvtArray 0x8000006d InvalidGpEnEvtArraySize 0x8000006e InvalidGpEnEvtArray 0x8000006f InvalidlntervalData 0x80000070 InvalidEndPosition 0x80000071 InvalidAxisSelect 0x80000072 InvalidTableSize 0x80000073 InvalidGpHandle 0x80000074 InvalidCmpSource 0x80000075 InvalidCmpMethod 0x80000076 InvalidCmpPulseMode 0x80000077 InvalidCmpPulseLogic 0x80000078 InvalidCmpPulseWidth 229 PCI 1285 1285E User Manual 0x80000079 InvalidPathFunctionlD 0x8000007a SysBufAllocateFailed 0x80000096 SlavelOUpdateError 0x80000097 NoSlaveDevFound 0x80000098 MasterDevNotOpen 0x80000099 MasterRingNotOpen 0x800000c8 InvalidDIPort 0x800000c9 InvalidDOPort 0x800000ca InvalidDOValue 0x800000cb CreateEventFailed 0x800000cc CreateThreadFailed 0x800000cd InvalidHomeModeEx 0x800000ce InvalidDirMode 0x800000cf AxHomeMotionFailed 0x800000d
81. Axis handle from Acm AxOpen Position PF64 IN Return the actual position uint PPU Return Value Error Code Comments Compare 6 3 4 9 1 Acm AxSetCmpData Format U32 Acm AxSetCmpData HAND AxisHandle F64 CmpPosition Purpose Set compare data for the specified axis Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen CmpPosition F64 IN The data to be compared Unit PPU Return Value Error Code Comments If property CFG AxCmpMethod is set to MTD GREATER POSITION the CmpPosition should be greater than current position command position or actual position If property CFG AxCmpMethod is set to MTD SMALLER POSITION the CmpPosition should be smaller than current position command position or actual position 137 PCI 1285 1285E User Manual Before setting compare data you need to set property CFG AxCmpEnable to CMP ENABLE first If you want to close compare function you only need to set property CFG AxCmpEnable to CMP DISABLE and nothing is necessary to clear compare data You can set CFG AxCmpSrc to SRC COMMAND POSITION or SRC ACTUAL POSITION Once any function of Acm AxSetCmpData Acm AxSetCmpAuto and Acm AxSetCmpTable is called the previous compared data will be cleared If property CFG AxEnableGenDO is enabled this function will be disabled PCI 1285E does not support this API 6 3 4 9 2 Acm AxSetCmpTable Format U32 Acm AxSetCmpTable HAND
82. CI 1285 1285E User Manual Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm GpAddAxis NewVelocity F64 IN New velocity unit PPU s Return Value Error Code Comments When group is in motion status the velocity changing command can be sent in order for the motion card to change the velocity accordingly When group is in line interpolation circular interpolation helical interpolation or continuous interpolation motion this command can be sent to change the velocity If the command runs successfully NewVelocity will be used in next motion if the velocity is not specified before the motion In single step interpolation motion the velocity changing process is shown below New Velocity gt Old Velocity New Velocity lt Old Velocity Velocity VS Time Velocity VS Time s 19 d Fi 2 3 u 5 rJ a Tansee Tama See Change Velocity Change Velocity If the remaing pulse is not enough for getting to the new velocity the card will auto matically calculate the available velocity 2 In continuous interpolation motion m BufferMode Blending Disabled In this mode each path in Path Buffer has its own process of acceleration decelera tion If the ChangeV function is run in motion status then the velocity of path of the current phase will accelerate decelerate to new velocity and thus the velocity of each phase will increase decrease proportionally If the r
83. Counter Clear CW PULS EGND Output Output pulse CW Pulse CW PULS EGND Output Output pulse CW Pulse CCW DIR EGND Output Output pulse CCW DIR CCW DIR EGND Output Output pulse CCW DIR Note 1 X1 X7 represent for ID of each axis 2 _ RDY amp LTC dedicated input channels are designed to be switch I able and support general purpose input channel usage 3 SVON CMP CAM DO and ERC dedicated output channels are designed to be switchable and support general purpose output channel usage 4 For easy to note Xn OUT4 CAM DO Xn OUT5 CMP Xn OUTE SVON and Xn OUTT ERC n 0 7 will be used and expressed in motion utility 5 Xn IN3 n 0 2 4 6 has three switchable functions general pur pose input JOG and MPG Manual Pulser 6 Xn IN4 n 0 2 4 6 has three switchblade functions general purpose input JOG and MPG Manual Pulser 11 PCI 1285 1285E User Manual 3 2 Location of DIP switch Figure 3 3 shows the names and locations of DIP switch on the PCI 1285 1285E The switch is used to set board ID BoardlD Switch PCI 1285 1285E have a built in DIP switch SW1 which is used to define each card s unigue identifier for Motion Utility You can determine the BoardlD identifier on the register as shown in table 3 3 When there are multiple cards in the same chas sis this BoardlD setting is useful for identifying each card s unique device number We set the BoardlD switch to O at the factory If you need to adjust it
84. CurPos m_CurAxis strTemp CurPos m_CurAxis tx_CmdPos Text strTemp End Sub Click Close Device amp Axes the device and axes in the device will be Closed The timer is disabled The code is as follow Private Sub btn_Close_Click Dim AxisNum As Long For AxisNum 0 To AxisPerDev 1 Step 1 Acm_AxClose m_AxisHand AxisNum Next Acm_DevClose m_DevHand cm_Axis Clear Timer1 Enabled False End Sub 6 The result is as follow Form1 Open DeviceNumber 0 2000F000 Open Device amp Axes Close Device amp Axes Frame2 O Axis Command Position Figure 6 18 The Execution Result PCl 1285 1285E User Manual 82 6 2 6 3 Creating a New C Application To use PCI 1285 1285E Series DSP Based SoftMotion PCI Controller ADVMOT dll and relevant driver files are needed Be sure to install the driver before development Create a C project as follows 1 Createanew project Select Microsoft Visual Studio 2005 from the Microsoft Visual Studio 2005 in Start Menu as follows m Microsoft SOL Server 2005 gt M Microsoft Visual Studio 6 0 00 E Visual Studio Remote Tools n Microsoft Web Publishing gt e Visual Studio Tools 5 PM Designer gt en SourceGear Vault PYS Visual Studio 2005 To create a new project Select File gt New gt Project of Main menu as fol lows File Edit View VAssistX Tools Window Community Help 3 Project Ctrl Shi t N Open gt
85. D AxisHandle F64 NewVelocity Purpose To command axis to change the velocity while axis is in velocity motion Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen NewVelocity F64 IN New velocity unit PPU s Return Value Error Code Comments The speed curve is decided by properties PAR AxVellow NewVelocity PAR AxAcc PAR AxDec and PAR AxJerk The range of NewVelocity is 0 CFG_AxMaxVel If this command runs successfully then NewVelocity will be used in next motion in case the velocity is not specified before the motion 117 PCI 1285 1285E User Manual 6 3 4 4 3 Acm AxGetCmdVelocity Format U32 Acm AxGetCmdVelocity HAND AxisHandle PF64 Velocity Purpose Get current command velocity of the specified axis Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Velocity PF64 OUT Return the command velocity unit PPU s Return Value Error Code Comments 6 3 4 4 4 Acm AxChangeVelEx Format U32 Acm AxChangeVelEx HAND AxisHandle F64 NewVelocity F64 NewAcc F64 NewDec Purpose Change the velocity acceleration and deceleration simultaneously in motion status Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen NewVelocity F64 IN New velocity unit PPU s NewAcc F64 IN New acceleration unit PPU s 2 NewDec F64 IN New
86. Dim Result As Long i As Long slaveDevs As Long Dim strTemp As String Dim buffLen As Long Dim AxisNumber As Long Open device Result Acm_DevOpen m_dwDevNum m DevHand If Result lt gt SUCCESS Then MsgBox Open Device Failed voOKOnly PTP Exit Sub End If buffLen 64 Get Axis count by getting property Result Acm GetProperty m DevHand FT DevAxesCount AxisPerDev buf fLen If Result lt gt SUCCESS Then Acm DevClose m DevHand MsgBox get axis number error voOKOnly PTP Exit Sub End If Open all of axes For AxisNumber 0 To AxisPerDev 1 Step 1 Result Acm_AxOpen m_DevHand AxisNumber m_AxisHand AxisNumber If Result lt gt SUCCESS Then MsgBox Open Axis Failed voOKOnly PTP Exit Sub End If Acm_AxSetCmdPosition m_AxisHand AxisNumber 0 If Result lt gt SUCCESS Then MsgBox Set command position failed voOKOnly PTP Exit Sub End If strTemp AxisNumber amp Axis cm Axis Addltem strTemp 81 PCI 1285 1285E User Manual Next cm Axis Listlndex 0 m CurAxis 0 Timer1 Enabled True End Sub Click the combox to select axis the code is as follow Private Sub cm Axis Click m CurAxis cm Axis Listlndex End Sub The timer is used to get the command position of selected axis The code is as follow Private Sub Timer1 Timer Dim CurPos As Double Dim strTemp As String ReDim CurPos 32 Get command position of selected axis Acm_AxGetCmdPosition m_AxisHand m_CurAxis
87. EL El STATUS2 ma S OFF OFF On OFF b 1 d 14 MODE14 AbsSearchRefind Ref Search ORG Refind ORG EZ Move Dir gt Search ORG gt Stop gt Move Dir gt Leave ORG FL gt Stop gt Move Dir gt Refind ORG FL gt Stop gt Move Dir gt touch EZ gt Stop Firstly axis moves in the way of MODE7_AbsSearch and then moves uniformly in opposite direction at VelLow until ORG signal disappears Then axis reverses the direction again and continues to move uniformly at VelLow until ORG singal occurs At last axis moves in the same direction to Z phase For example Dir Positive Limit Logic Active High ORG Logic Active High AbsSearchReFind EZ EL ORG EZ EL minni al OFF On OFF On OFF On OFF EL ORG EZ ELK status OEF On OFF on OFF On OFF OFF On OFF EL ORG EZ ELK y OFF On OFF On off OFF jon OFF statusa OFFI On a PCI 1285 1285E User Manual 134 AbsSearch process has three situations For detailed information see about descriptions in MODE7 AbsSearch 15 MODE15 AbsSearchRefind_NegRef Search ORG Refind ORG NegEZ Move Dir gt Search ORG gt Stop gt Move Dir gt Leave ORG FL gt Stop gt Move Dir gt Refind ORG FL gt Stop gt Move Dir gt touch EZ gt Stop Firstly axis moves in the way of MODE7 AbsSearch and then moves uniformly in opposite direction at VelLow until ORG signal disappears Then axis reverses the direction again and cont
88. ERC 4 31 Not defined Comments PCl 1285 1285E User Manual 194 6 4 3 1 17 2 FT AxGenDIMap Data Type R W U32 R PropertylD 330 Meaning Get axis supported general input from IN1 to IN4 Bits Description 0 IN1 LTC 1 IN2 RDY 2 IN3 JOG 3 IN4 JOG 4 31 Not defined Comments 6 4 3 1 18 Simultaneity 6 4 3 1 18 1 FT AxSimStartSourceMap Data Type R W U32 R PropertylD 331 Meaning The Mode of simultaneous starting that axis supported Bits Description 0 Start Simultaneous Starting on signal from STA Pin on device Default 1 7 Not defined 8 Start Simultaneous Starting with axis O s compare signal 9 Start Simultaneous Starting with axis 1 s compare signal 10 Start Simultaneous Starting with axis 2 s compare signal 11 Start Simultaneous Starting with axis 3 s compare signal 12 Start Simultaneous Starting with axis 4 s compare signal 13 Start Simultaneous Starting with axis 5 s compare signal 14 Start Simultaneous Starting with axis 6 s compare signal 15 Start Simultaneous Starting with axis 7 s compare signal 16 Start Simultaneous Starting when axis O is stopped 17 Start Simultaneous Starting when axis 1 is stopped 18 Start Simultaneous Starting when axis 2 is stopped 19 Start Simultaneous Starting when axis 3 is stopped 20 Start Simultaneous Starting when axis 4 is stopped 21 S
89. Emg Emergency Emergency stop Sd Slow down 19 PCI 1285 1285E User Manual Table 4 1 Abbreviations and Their Meanings Info Information Cmp Compare Inp In position EZ Encode Z El Hardware Limit Mel Negative Limit Pel Positive Limit Org Origin Ext External FT Feature Feature properties CFG Configuration Configuration properties PAR Parameter Parameter properties Ipo Interpolation Chan Channel Naming Rules of API The naming rules of API are as follows m Acm DevXXX Represents this API will implement function for device such as device properties setting Eg Acm DevSetProperty m Acm DagXXX Represents this API will implement the function of DI DO Al or AO Eg Acm_DaqDiGetByte m Acm AxXXXX Represents this API will implement function for axis such as single axis motion homing Eg Acm AxHome m Acm GpXXXX Represents this API will implement function for multiple axes Such as interpolation motion Eg Acm_GpMoveLinearRel Naming Rules of Property The properties have three types feature configuration and parameter Feature Feature properties are related to the hardware features The naming rules are as follows m FT DevXXX For device Eg FT DevAxisCount m FT DagXXX For DI DO Al and AO Eg FT DagDiMaxChan m FT AxXXX For axis object Eg FT Ax m FT GpXXX For group object Configuration The values of configuration properties may
90. I Aux Gen Output 6 3 4 11 1 Acm AxDoSetBit Format Acm AxDoSetBit HAND AxisHandle U16 DoChannel U8 BitData Purpose Output DO value to channel Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen DoChannel U16 IN Digital output channel 4 7 BitData U8 IN DO value 0 or 1 Return Value Error Code Comments If you want to use this general DO function you must set property CFG AxGenDoEnable to GEN DO EN first When CFG AxGenDoEnable is enabled the function of CamDo Erc and Compare will be disabled automatically and Acm AxSetCmpData Acm_AxSetCmpAuto Acm AxSetCmpTable will not be able to generate trigger pulse because these two functions use the same output pins OUT4 OUT7 6 3 4 11 2 Acm AxDoGetBit Format U32 Acm AxDoGetBit HAND AxisHandle U16 DoChannel PU8 BitData Purpose Get DO channel status 141 PCI 1285 1285E User Manual Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen DoChannel U16 IN Digital output channel 4 7 BitData PU8 OUT DO value O or 1 Return Value Error Code Comments See about Acm AxDoSetBit 6 3 4 11 3 Acm AxDiGetBit Format U32 Acm AxDiGetBit HAND AxisHandle U16 DiChannel PU8 BitData Purpose Get the specified channel s DI value Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from A
91. N OUT Element count in the array This count must be equal to the axis count in this group or else it will be returned axis count in group Direction 116 IN Direction 0 DIR_CW clockwise 1 DIR_CCW counterclockwise Return Value Error Code Comments This command just supports 3 axes The elments in CenterArray and EndArray must be in order with PhysicallD of axis User can chose two axes in group to move arc interpolation by property PAR GpRefPlane the other axes decides the height of helix The unit of distance in CenterArray and EndArray is PPU of each axis in group For example Group Y Z U CenterArray Y Z U EndArray Y Z U If PAR GpRefPlane 1 YZ_Plane Z axis and U axis will move arc interpolation and Y value in EndArray is the height of helix The figure of helix is as follow 3 axis spiral interpolation Center point specification 3 axis spiral interpolation Center point specification CW direction Z axis movement CCW direction Z axis movement Z axis direction Z axis direction The center position can be specified The center position can be d Y axis specified Y axis direction E direction X axis X axis direction direction The interpolation speed is the tangential The interpolation speed is the tangential velocity of arc velocity of arc PCI 1285E does not support this API PCI 1285 1285E User Manual 160 6 3 5
92. ND IN Axis handle from Acm AxOpen NewDec F64 IN Deceleration for decelerating Unit PPU s 2 Return Value Error Code Comments If the decelerating command is sent and the remaing pulse is not enough for supporting the specified NewDec then pulse break will occur Group SYSTEM 6 3 5 1 1 Acm_GpAddAxis Format U32 Acm_GpAddAxis PHAND GpHandle HAND AxHandle Purpose Add an axis to the specified group Parameters Name Type In or Out Description GpHandle PHAND IN OUT Point to group handle NULL or not AxHandle HAND IN Axis handle from Acm AxOpen Return Value Error Code Comments If GpHandle points to NULL driver will create a new group handle and add the axis to this new group If GpHandle points to a valid group handle driver will just add the axis to the group 149 PCI 1285 1285E User Manual At most there are 4 groups in PCI 1285 1285E No more than 8 axes in each group for PCI 1285 and 2 axes in each group for PCI 1285E The same axis can not be added in different groups The master axis in group is the minimal PhysicallD one The parameters of group are initialized when the first axis is added Such as CFG GpPPU PAR GpVelLow PAR GpVelHigh PAR GpAcc PAR GPDec and PAR GpJerk 6 3 5 1 2 Acm_GpRemAxis Format U32 Acm_GpRemAxis HAND GpHandle HAND AxHandle Purpose Remove an axis from the specified group Parameters Name Type In or Out D
93. OFF On OFF On OFF On OFF a iezi FORG iezi STATUS3 OFFJ On OFF f Oni OFF i On OFF 1 m STATUS1 If the object is out of the field of EZ signal and ORG signal when home command is written Firstly the object will move until ORG signal occur ring then continue to move until EZ signal occurring m STATUS2 If the object is in the field of ORG signal the home command is writ ten the object begins to move Firstly the ORG signal disappears and then next ORG signal occurs At last motion is stopped when EZ signal occurring m STATUSS If the object is in the field of EZ signal the home command is written the object begins to move Firstly the EZ signal disappears and then ORG sig nal occurs At last motion stops when EZ signal occurring PCl 1285 1285E User Manual 128 Note Home will stop in case EL signal occurs MODES5 Abs NegRef ORG EZ Move Dir gt touch ORG gt Stop gt Move Dir gt touch EZ gt Stop This is a composed home mode The object moves until origin signal occurring firstly and then continues to move in opposite direction with ORG until EZ signal is occurred For Example Dir Positive ORG logic Active Logic EZ Logic Active Logic Abs ORG NegEZ i Ezi ORG STATUS1 OFFI On OFF Oni OFF iorGi i zi iORG STATUS ol OFF on OFF on OFF a STATUS3 OFF STATUS1 If the object is out of the field of EZ signal and ORG signal when home command i
94. OUT DIR OUT negative logic 2 4 OUT DIR DIR negative logic 8 OUT DIR OUT amp DIR negative logic PCI 1285 1285E User Manual 200 16 CW CCW 32 CW CCW CW amp CCW negative logic 256 CW CCW OUT negative logic 512 CW CCW DIR negative logic Comments In PCI 1285 1285E the default value is 16 See also FT AxPulseOutMode 6 4 3 2 5 Alarm 6 4 3 2 5 1 CFG_AxAlmLogic Data Type U32 R W RW PropertylD 562 Meaning Set get active logic of alarm signal Value Description 0 Low active 1 High active Comments In PCI 1285 1285E the default value is 1 6 4 3 2 5 2 CFG AxAlmEnable Data Type U32 R W RW PropertylD 561 Meaning Enable disable motion alarm function Alarm is a signal generated by motor drive when motor drive is in alarm status Value Description 0 Disabled 1 Enabled Comments In PCI 1285 1285E the default value is 0 Please modify CFG AxAlmReact and CFG AxAlmLogic before modifying the value of CFG AxAlmEnable 6 4 3 2 5 3 CFG AxAlmReact Data Type U32 201 PCI 1285 1285E User Manual R W RW PropertylD 563 Meaning Set get the stop modes when receiving ALARM signal Value Description 0 Motor immediately stops 1 Motor decelerates then stops Comments In PCI 1285 1285E the default value is 1 6 4 3 2 6 In Position 6 4 3 2 6 1 CFG_AxInpEnable Data Type U32 R
95. PF64 IN Distance array of axis in group each value of array elements represent the axis relative position ArrayElements PU32 IN OUT Element count in the array This count must equal to the axis count in this group or else it will be returned axis count in group Return Value Error Code Comments The seguence of data in DistanceArray must follow the order of X axis Y axis Z axis U axis and so on For example if one group has two axes Y axis and U axis The first data in DistanceArray means Y axis relative distance and the second data means U axis relative distance The unit of distance in DistanceArray is PPU of each axis in group The difference between line interpolation and direct interpolation line interpolation s speed is divided into even line speed for every axis axis moves at this even line speed Mostly line interpolation is applied to the axis assembled as right angle But direct interpolation s line speed is set into master axis The smallest Physical ID axis and other axes in group start stop as the same time as master axis Mostly direct interpolation is applied to the axis assembled as obligue angle At most it just supports 8 axes direct interpolation in PCI 1285 2 axes in PCI 1285E 6 3 5 4 9 Acm GpChangeVel Format U32 Acm GpChangeVel HAND GroupHandle F64 NewVelocity Purpose Command group to change the velocity while group is in line interpolation motion 157 P
96. Purpose Get the latch data in device after triggering latch Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen PositionNo U32 IN 0 Command position 1 Actual position Position PF64 OUT Latch data uint PPU Return Value Error Code Comments PCI 1285E does not support this API 6 3 4 10 2 Acm AxTriggerLatch Format U32 Acm AxTriggerLatch HAND AxisHandle Purpose Trigger the hardware to latch position data Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Return Value Error Code Comments PCI 1285E does not support this API 6 3 4 10 3 Acm_AxResetLatch Format U32 Acm AxResetlatch HAND AxisHandle Purpose Clear the latch data and latch flag in device Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen PCI 1285 1285E User Manual 140 6 3 4 11 Return Value Error Code Comments PCI 1285E does not support this API 6 3 4 10 4 Acm AxGetLatchFlag Format U32 Acm AxGetLatchFlag HAND AxisHandle PU8 LatchFlag Purpose Get the latch flag in device if data is latched Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen LatchFlag PU8 OUT The flag data 1 Data is latched 0 not latched Return Value Error Code Comments PCI 1285E does not support this AP
97. Rel2DDirect 13 Abs3DDirect 14 Rel3DDirect 15 Abs4DDirect 16 Rel4DDirect 17 Abs5DDirect 18 Rel5DDirect 19 Abs6DDirect 20 Rel6DDirect 21 Abs3DArcCW not support 22 Rel3DArcCW not support 23 Abs3DArcCCW not support 24 RelSDArcCCW not support 25 Abs3DHelixCW 26 Rel3DHelixCW 27 Abs3DHelixCCW 28 Rel3DHelixCCW 29 GPDELAY uint ms MoveMode PU16 OUT Move mode 0 No blending 1 Blending FH PF64 OUT Unit PPU of master Axis the minimal PhysicallD Axis FL PF64 OUT Unit PPU of master Axis the minimal PhysicallD Axis EndPoint_DataArray PF64 OUT Unit PPU of master Axis the minimal PhysicallD Axis CenPoint_DataArray PF64 OUT Unit PPU of master Axis the minimal PhysicallD Axis ArrayElements PU32 IN OUT Return axis count Return Value Error Code Comments If you want to know the setting of a path you can call this API 6 3 5 6 Pause amp Resume 6 3 5 6 1 Acm GpPauseMotion Format U32 Acm GpPauseMotion HAND GroupHandle PCI 1285 1285E User Manual 172 Purpose Pause group movement Parameters Name Type In or Out Description GroupHandle HAND IN Axis handle from Acm_GpAddAxis Return Value Error Code Comments When the Group in the process of movement its issued pause command the board after the receipt of the command will decele
98. Stop Click Stop to dissolve the synchronization and the slave axis s state will be Ready 5 5 1 6 Gantry Motion Select Gantry in Synchronized Mode you can configure and operate the gantry movement Gantry Motion Configuration Reference Source Direction Command Pos O Feedback Pos O Same O Opposite 5 5 1 6 1 Configuration Before the establishment of gantry synchronization you need to configure the follow ing parameters 1 Reference Source the Master axis s position reference source a Command Position reference source is command position b Feedback Position reference source is as feedback position 49 PCI 1285 1285E User Manual 5 5 2 5 5 2 1 5 5 2 2 5 5 2 3 5 5 2 4 2 Direction The Slave axis direction relative to the Master axis a Same Same as the Master axis b Opposite Opposite to the Master axis 5 5 1 6 2 Gantry In Click Gantry In to the Slave axis will establish gantry synchronization with the Mas ter axis and the Slave s state will change into Synchronous Driving Thereafter if the Master axis is in P to P or Continue motion the Slave axis will follow the Master axis to move with the configuration accordingly 5 5 1 6 3 Stop Click Stop to dissolve the gantry synchronization and Slave axis s state will be Ready Master Axis Operation Master Axis Select an axis as the Master axis from all the axes of the selected device Note The master and slave cannot be the
99. T AxPulselnMap Data Type U32 R W R PropertylD 306 185 PCI 1285 1285E User Manual Meaning Get the pulse input features supported by this motion device Bits Description 0 Mode 1 Logic 2 Source 3 31 Not defined Comments 6 4 3 1 3 2 FT AxPulselnModeMap Data Type U32 R W R PropertylD 307 Meaning Get axis supported pulse input mode Bits Description 0 1X A B 1 2X A B 2 4X A B 3 CW CCW 4 31 Not defined Comments 6 4 3 1 4 Pulse Out 6 4 3 1 4 1 FT AxPulseOutMap Data Type U32 R W R PropertylD 308 Meaning Get the pulse output features supported by this motion device Bits Description 0 Mode 1 31 Not defined Comments In PCI 1285 1285E the value is 1 6 4 3 1 4 2 FT_AxPulseOutModeMap Data Type U32 PCl 1285 1285E User Manual 186 R W R PropertylD 309 Meaning Get pulse output modes supported by this motion device Bits Description OUT DIR OUT DIR OUT negative logic OUT DIR DIR negative logic OUT DIR OUT amp DIR negative logic CW CCW A B Phase B A Phase CW CCW OUT negative logic Not support CW CCW DIR negative logic Not support 0 1 2 3 4 5 CW CCW CW amp CCW negative logic 6 7 8 9 1 0 31 Not defined Comments In PCI 1285 1285E the value is 63
100. User Manual PCI 1285 1285E DSP Based SoftMotion PCI Controller AD ANTECH Enabling an Intelligent Planet Copyright This documentation and the software included with this product are copyrighted 2012 by Advantech Co Ltd All rights are reserved Advantech Co Ltd reserves the right to make improvements in the products described in this manual at any time without notice No part of this manual may be reproduced copied translated or transmitted in any form or by any means without the prior written permission of Advantech Co Ltd Information provided in this manual is intended to be accurate and reliable However Advantech Co Ltd assumes no responsibility for its use nor for any infringements of the rights of third parties which may result from its use Acknowledgments PC LabCard is a trademark of Advantech Co Ltd IBM and PC are trademarks of International Business Machines Corporation MS DOS Windows Microsoft Visual C and Visual BASIC are trademarks of Microsoft Corporation Intel and Pentium are trademarks of Intel Corporation Delphi and C Builder are trademarks of Inprise Corporation CE Notification The PCI 1285 1285E developed by Advantech CO LTD has passed the CE test for environmental specifications when shielded cables are used for external wiring We recommend the use of shielded cables This kind of cable is available from Advantech Contact your local supplier for ordering infor
101. VelHigh The default value is 2000 PPU 6 4 3 3 1 2 PAR AxVelHigh Data Type F64 R W RW PropertylD 402 Meaning Set get high velocity driving velocity of this axis Unit PPU s Comments This property value must be smaller than CFG AxMaxVel and greater than PAR AxVellLow The default value is 8000 6 4 3 3 1 3 PAR AxAcc Data Type F64 R W RW PropertylD 403 Meaning Set get acceleration of this axis Unit PPU s2 Comments This property value must be smaller than or egual to CFG AxMaxAcc The default value is 10000 221 PCI 1285 1285E User Manual 6 4 3 3 1 4 PAR AxDec Data Type F64 R W RW PropertylD 404 Meaning Set get deceleration of this axis Unit PPU s Comments This property value must be smaller than or equal to CFG AxMaxDec The default value is 10000 6 4 3 3 1 5 PAR AxJerk Data Type F64 R W RW PropertylD 405 Meaning Set get the type of velocity profile t curve or s curve Value Description 0 T curve Default 1 S curve Comments The actual jerk is calculated by driver If PAR AxJerk is set to be 1 the PAR AxAcc not means acceleration but max acceleration and PAR_AxDec not means deceleration but max deceleration 6 4 3 3 2 Home 6 4 3 3 2 1 PAR AxHomeCrossDistance Data Type F64 R W RW PropertylD 408 Meaning Set the home cross distance Unit PPU This property must be greater than 0 The default value is 10000 PCI 1285 1285E User Ma
102. X1_OUT7 ERC X1 CW PULS X1 CW PULS X1 CCW DIR X1 CCW DIR PCI 1285 1285E User Manual CN1A Figure 3 2 I O Connector Pin Assignment for CN1A and CN1B X3_OUT4 CAM DO x3 OUTS CMP X3_OUT6 SVON X3_OUT7 ERC X3_CW PULS X3_CW PULS X3_CCW DIR X3 CCW DIR 10 X5_OUT4 CAM DO X5_OUT5 CMP X5_OUT6 SVON X5_OUT7 ERC X5 CW PULS X5_CW PULS X5 CCW DIR X5_CCW DIR CN1B X7 OUTA CAM D X7 OUTS CMP X7_OUT6 SVON X7_OUT7 ERC X7 CW PULS X7 CW PULS X7 CCW DIR X7 CCW DIR Table 3 1 I O Connector Signal Description Signal Name Reference Direction Description VEX Input External Power 12 24Vpc EMG Input Emergency Stop for all axes LMT E Input Direction Limit LMT Input Direction Limit LTC Input Position Latch RDY Input Servo Ready ORG Input Home Position INP Input In Position Input ALM N Input Servo Error ECA Input Encoder Phase A ECA Input Encoder Phase A ECB Input Encoder Phase B ECB Input Encoder Phase B ECZ Input Encoder Phase Z ECZ Input Encoder Phase Z EGND Ground DI EGND Input General purposed digital input DO EGND Output General purposed digital output CAM DO EGND Output DO during assigned position interval and vice versa CMP EGND Output Compare to Trigger Output SVON EGND Output Servo ON ERC EGND Output Error
103. Y IN1 LTC ffOn OUTT ERCOUTG SVON OUTS CMP OVT4 CAN DO M On 0 0 0 ee O O o O gor DI As the above figure DI 3 0 status from right to left is DIO to DI3 respectively Wherein indicates the DI is in effect ON and its value is 1 indicates the DI is not in effect OFF and its value is 0 DO As the above figure DO 7 4 status from right to left is DO4 to DO7 respectively Wherein amp indicates the DO is in effect ON and its value is 1 amp indicates the DO is not in effect OFF and its value is 0 Last Error Status Last Error Status Error Code 0 Error Message SUCCESS You can check the latest error code and error message If there is no any error the error code is 0 error message is SUCCESS 37 PCI 1285 1285E User Manual 5 3 10 I O Status 5 4 You can visually know the I O status from the LED bar Wherein indicates the device does not support the function or does not have the corresponding I O indi cates the device support the function but I O is not triggered OFF indicates the HO Status RDY m LNT a IT 2 ORG E DIR a me m i a a EZ a a am a a svon Gam ja m m m m corresponding I O is triggered ON For details refer to the description about Status in Acm_AxGetMotionlO function which is listed in Common API of Programming guide If no functional or no corresponding item the text will be displayed as grey If the board supporting the function but not e
104. Y UaU av 44 5 4 6 POSITION uu iu vaasan Yd dada kasa WRN OT an Noo YNO Dd KVA NAO WD RNA Ron DDN YNO 44 547 State amp StalllSi i iie in HNN FY Y WT TAV ynd 44 Synchronized Motion oooooossss n naan naan naa n aa annan nanaeeen 45 5 5 1 Slave Axis Operation uuuousssse n kaa a aa ena nananana 45 5 5 2 Master Axis Operation uuooossusn naan aan aa aan aaaen 50 Digital 1 010 AR EOS OP S PNI 51 Digital OUtPUt iu castes saumassa sa read Henkan em peda de ana iiaiai 51 Analog INPUt ivisoe sas cetvtins coasted ancien aan avai SE v aN A 51 Chapter6Programming Guide53 6 1 6 2 LLun go 1o 18 Le Lo E et Wied die hei eet reed 54 6 1 1 Data Type Redefinition 0 0 ecceeeeeeeeeeeeeeeeeeeeeeeeeeeeeenenaeees 54 6 1 2 About Error COode ouuoouuuunmmsn maan naa ana naa nannaa naa an nn nno 55 6 1 3 About EVGNT ccc ci ttn etait ibe tees 55 6 1 4 About Using Common Motion API in Win7 sse 55 6 1 5 About Elevating Application Privileges n se 56 Getting Started 0 eccccecccceeeeceeeecceeeeaaeeeeneeeeeeaeseseeeee n aa annan naan aaanee 57 6 2 1 PCI 1285 1285E Software architecture uuuuussussn nnen 57 Figure 6 1 PCI 1285 1285E Software Architecture 57 6 2 2 Flow Ghats sieeve suossa ae aan etes avata tres iaai aaia 58 Figure 6 2 Basic Operation Flow Chart 99 9999 99ennen 58 Figure 6 3 Single Axis Operation Flow Chart 99e 59 Figure 6 4 Mu
105. _AxGetState y Get states of axis Acm AxStopDec N v Decelerated stop Stop Acm_AxStopEmg N y Emergency stop Acm_AxStopDecEx J N Command the axis to stop and specify the deceleration Acm AxMoveVel N V Command continuous motion Acm AxChangeVel J N Command velocity changing on current motion Acm AxChangeVelByRate N N Change ne velocity or current motion according to the given rate Velocity Change the velocity acceleration Motion Acm AxChangeVelEx y y _ land deceleration simultaneously in motion status Change the velocity acceleration Acm AxChangeVelExByRate N y _ land deceleration simultaneously in motion status Acm_AxGetCmdVelocity N v Get current command velocity Acm AxMoveRel N 4 Command relative point to point motion Point to Acm_AxMoveAbs s N Command absolute point to point motion js Ch d iti int t Motion Acm AxChangePos N y ange Sne POSHO SROM point motion Acm AxMovelmpose N X Impose new motion on current motion Acm_AxSimStartSuspendAbs N X Suspend absolute simultaneous motion Acm_AxSimStartSuspendRel J X Suspend relative simultaneous motion amane Acm_AxSimStartSuspendVel y X _ Suspend continuous motion ous Motion Acm AxSimStart J X Start suspending simultaneous motion Acm_AxSimStop A X Stop suspending simultaneous motion Home Acm AxHome y Command home 67 PCI 1285 1285E User Manual
106. a 14 3 9 Servo Error amp Alarm ALM eeeeuuie ninne LLY Y LLAI ELLY aan naan a aa aa nanna 14 3 10 Encoder Input ECA ECB ECZ ouuusssiseett etta e nananana 14 Figure 3 7 Circuit Diagram of Encoder Feedback 14 3 11 Emergency Stop Input EMG oossssssse nana n naa a naa naan Yr aaaeeen 15 Figure 3 8 Circuit Diagram of Emergency Stop Input Signal 15 3 12 External Power Input VEX s sisien neinna n aa nannaa annan nannat 15 3 13 Position Window Output CAM DO cuuosssssssse naan nanna nannat 15 Figure 3 9 Circuit Diagram of Position Window Output 15 3 14 Activate Servo ON SVON cuuuuuusemmaa naene AL LLYRY LL a nananana 16 3 15 Servo Error Counter Clear ERC ccccccceceeeeeeeeeeececaeeeeeeeeseeeeesaeees 16 3 16 Position Compare Output CMP ccececeeeeeeeeeeeeeeeeeeeaeeseeeeeestaeeseeas 16 3 17 JOG and MP Gisse sachs ea Ea aA T YNG FD MEDD 16 3 18 Simultaneous Start and Stop within Multiple Cards 99 eee enen 16 Chapter4Common Motion API17 4 1 Introduction of Common Motion Architecture uusssusssnsn nnen 18 4 2 Device Number sumiuustmsmustaamasuumuan aa use san DY a En gn Y skn ese Fas 19 4 3 Naming Rules of API and Properties uussssssssa inn naan aan nneen 19 Table 4 1 Abbreviations and Their Meanings eeee 19 1 PCl 1285 1285E User Manual Chapter5Utility21 5 1
107. after calling this function Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Return Value Error Code Comments 113 PCI 1285 1285E User Manual 6 3 4 2 Motion IO 6 3 4 2 1 Acm AxSetSvOn Format U32 Acm AxSetSvOn HAND AxisHandle U32 OnOff Purpose Set servo Driver ON or OFF Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen OnOff U32 IN Setting the action of SVON signal 0 Off 1 On Return Value Error Code Comments 6 3 4 2 2 Acm AxGetMotionlO Format U32 Acm AxGetMotionlO HAND AxisHandle PU32 Status Purpose Get the motion I O status of the axis Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Status PU32 OUT Bit Description 0 RDY RDY pin input 1 ALM Alarm Signal input 2 LMT Limit Switch 3 LMT Limit Switch 4 ORG Origin Switch 5 DIR DIR output 6 EMG Emergency signal input 7 PCS PCS signal 8 ERC Output deflection counter clear signal to a servomotor driver OUT7 9 EZ Encoder Z signal 10 CLR ext input to Clear postion counter not support in PCI 1285 1285E 11 LTC Latch signal input 12 SD Slow Down signal input not support in PCI 1285 1285E 13 INP In Position s
108. analog inputs and channel index is as 0 and 1 Input Range analog input range 1 Analog Input Value According to the sampling period the analog input value sampled from the input channel 2 Configuration a Channel Mode single ended channel and differential channel are available b Sampling period use scrollbar to modify the value and its range is 200 10000ms This function is not supported by PCI 1285 1285E 51 PCI 1285 1285E User Manual PCI 1285 1285E User Manual 52 Programming Guide This chapter is to detail the pro gramming API for each function 6 1 Introduction This chapter supplies the APIs for user shows the APIs definitions and how to use them PCI 1285 1285E device driver is based on the Common Motion Architecture About the detail of Common Motion Architecture see about Secton 4 3 According to this Architecture all of functions and properties have been classified three types Device Object Axis Object Single Axis and Group Object Multiple Axis There are several basic concepts which should be known before using the API functions and properties m Naming of API and Properties All of APIs and Properties under the Common Motion Architecture follows the uniform naming regulation See about section 4 3 3 m Data type redefinition For simplifying code the common data types are rede fined m Error Code All of APIs will return code to show success to call or failed for which error 6 1 1
109. application has to call this func tion please add the corresponding Manifest file and grant administrator rights to the application Please refer to About Granting Administrator Rights to Appli cations 2 IF you open C VB net examples with VS2008 or VS2010 and the following error messages appear 55 PCI 1285 1285E User Manual Microsoft Visual Studio mt dem v 1 Error while trying to run project Unable to start program C Program Files Advantech Common Motion Examples Windows C Event bin Debug Event exe This application has failed to start because the application configuration is incorrect Review the manifest file for possible errors Reinstalling the application may fix this problem For more details please see the application event log Uncheck the Enable ClickOnce Security Setting option in Security column of Project properties Recompile and the application will run successfully 6 1 5 About Elevating Application Privileges 1 To develop applications with Microsoft Visual Studio 2005 VS2005 you can copy the Manifest file app manifest from the Properties folder of C VB net examples to the Projects folder of the project Click Project gt Add Existing Item to add it to the project 2 _ To develop applications with Microsoft Visual C 6 0 you can copy the Mani fest file App manifest from VC examples to the path of the project Import this fle to the source Source type 24
110. array pointer PassArrayCnt U32 IN Password length is 2 per set ReadArray PU32 OUT Read private data BufferLength U32 IN Data length is 2 per set Return Value Error Code Comments Reading will not be allowed by wrong password input over 3 times The error count will change to O after restart 93 PCI 1285 1285E User Manual 6 3 2 6 3 2 1 6 3 2 2 6 3 2 3 Device Object Acm DevOpen Format U32 Acm DevOpen U32 DeviceNumber PHAND DeviceHandle Purpose Open a specified device to get device handle Parameters Name Type In or Out Description DeviceNumber U32 IN Device Number DeviceHandle PHAND OUT Return a point to the device handle Return Value Error Code Comments This function should be called firstly before any operation of the device Acm DevClose Format U32 Acm DevClose PHAND DeviceHandle Purpose Close a device Parameters Name Type In or Out Description DeviceHandle PHAND IN A pointer to the device handle Return Value Error Code Comments Last of all the device must be closed through this function Acm_DevLoadConfig Format U32 Acm_DevLoadConfig HAND DeviceHandle PI8 ConfigPath Purpose Set all configurations for the device according to the loaded file Parameters Name Type In or Out Description DeviceHandle HAND IN Device handle from Acm_DevOpen ConfigPath PI8 IN Pointer to a string that saves configuration fi
111. art you can see the velocity curve fel Axis Scope View Velocity VS Time Velocity PPU 10 3 Wherein on the right there are setting and operating buttons on the left there is Setting Velocity Axis Max 10000 PPY Time Axis Length 50 Sec Spd Curve Color Blu v Act Pos Curve IM Red v Cmd Pos Curve Gre Y Source Velocity vj H Zoom Y Zoom movement speed curve in single axis motion 5 3 2 5 1 Setting Setting items are as follows DRON Actual Position Command Position Velocity Actual Positi Velocity Command Posit Command Actual Positio All None Vertical Max Value sets maximum vertical coordinate Time Length Value sets maximum horizontal coordinate Spd Curve Color setsthe color for speed curve Act Pos Curve sets the color for actual position curve Cmd Pos Curve sets the color for command position curve Y Source data source for vertical coordinate You can select any one or any combination of velocity command position and actual position as below 29 PCI 1285 1285E User Manual 5 3 3 5 3 4 5 3 4 1 7 _H Zoom if it is checked it indicates horizontal zoom is enabled you can select appropriate region by the mouse to zoom in 8 V Zoom if it is checked it indicates vertical zoom is enabled you can select appropriate region by the mouse to zoom in After the setting item is edited the value will become effective as the mouse leaves t
112. ary 3 Header Files Blend s gt Debug Multithreaded gt E StdAfx h Resource Files Calling convention Struct member alignment E ReadMe ta TN o nys E Project Options inologo Gz JMTd W3 JGm JGX ZI JOd ID WIN32 J D DEBUG D CONSOLE D MBCS Fp Debug PCI1245APP pch Yu stdafx h Fo Debug a Cancel Figure 6 10 Setting Calling Convention b Set the head files path the paths as follows contains all of head files which may be used by user Plese pay attention the paths which must be corrective For example the content of folder which contains this project is as follow 75 PCI 1285 1285E User Manual I Include o Pp Public PCI124SAPP Figure 6 11 Folder Content of This Example So the path setting is as follow Project Settings Settings For Win32 Debug v 3 Source Files PCI1245APP cpp 4 StdAfx cpp 3 Header Files E StdAfx h 3 Resource Files E ReadMe txt General Debug C C Link Resources Bi Reset Category Preprocessor Preprocessor definitions WIN32 DEBUG CONSOLE MBCS Undefined symbols F Undefine all symbols Additional include directories APublict include Ignore standard include paths Project Options inologo Gz MTd W3 Gm GX ZI Od JI APublicW fl A Ainclude I general D WIN32 D DEBUG D CONSOLE D MBCS Fp Debug PCI1 245APP pch a Figure
113. ation synchronization Master Slave x N Velocity Velocity 25 25 Position Position H A Slaveposition About the E gear operation see about E Gear gantry flow chart in Chapter 6 2 2 Slaveposition t 6 3 4 13 3 Acm_AxPhaseAx Format U32 Acm_AxPhaseAx HAND AxisHandle F64 Acc F64 Dec F64 PhaseSpeed F64 PhaseDist Purpose Enable the phase lead or phase lag motion of the salve axis during the process of electronic cam or electronic gear 145 PCI 1285 1285E User Manual Parameters Name Type In orOut Description AxisHandle HAND IN Axis handle from Acm AxOpen Acc F64 IN Acceleration of phase lead lag motion Unit PPU s 2 Dec F64 IN Deceleration of phase lead lag motion Unit PPU s 2 PhaseSpeed F64 IN Speed of phase lead lag motion Unit PPU s PhaseDist F64 IN Distance of phase lead lag motion Unit PPU Return Value Error Code Comments The API enables the slave axis to pull ahead or lag behind the previous motion during the process of electronic cam or electronic gear If PhaseDist gt 0 it enables the phase lead motion if PhaseDist lt 0 it enables the phase lag motion If the remaining Pulse is not enough then the slave axis could not reach the specified phase An error will be retrieved if this command is re sent before the phase lead lag motion ends Becuase of the floating number caculation error the maximum acceleration deceleratoin sp
114. axis O is failed n getchar return O Acm DevClose amp devHandle getchar return O PCl 1285 1285E User Manual 78 5 The execution result et E AMY PROJECTSIMYEXAMPLEWCI1245APPWebugWPCI of x s successfully Open device ully Get property ccessfully Open axes ullyt Command axis point to point motion successfully Figure 6 14 Result of VC Sonsole Example 6 2 6 2 Creating a New Visual Basic Application For creating a new console application the procedure is as follow al Open the Visual Basic 6 0 development program it will be loaded as follow New Project New Existing Recent Gepe Activex EXE ActiveX DLL Activex VB EXE Control Applicati gt bd bd g bd N YYYY VB Wizard ActiveX Activex Addin Data Project Manager Docume Docume Pa amp Fen amp Pa amp I Don t show this dialog in the future Figure 6 15 Load VB Development Environment Select the Standard EXE icon and press the Open button A new project is created Adding the module into project Click on the Project Explorer in the View menu Add ADVMOT bas In the Advantech Motion Common Public folder after installing examples package module and general bas In the folder Advan tech Motion Common Examples after installing examples package by clicking on Add Module in the Project menu 79 PCI 1285 1285E User Manual Project1 Project1 vbp 3 65 Forms amp For
115. axis s absolute position motion Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Position F64 IN Absolute position unit PPU Return Value Error Code Comments The speed curve is decided by properties PAR AxVelLow PAR AxVelHigh PAR AxAcc PAR AxDec and PAR AxJerk The range of Distance is 2147483647 2147483647 if PPU is 1 6 3 4 5 3 Acm AxChangePos Format U32 Acm AxChangePos HAND AxisHandle F64 NewDistance Purpose To command axis to change the end distance while axis is in point to point motion Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen NewDistance F64 IN New relative distance unit PPU Return Value Error Code Comments This function will change the end position to specified position on current ptp motion The range of Distance is 2147483647 2147483647 if PPU is 1 121 PCI 1285 1285E User Manual 6 3 4 5 4 Acm AxMovelmpose Format U32 Acm AxMovelmpose HAND AxisHandle F64 Position F64 NewVel Purpose Impose a new motion on current motion Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Position F64 IN The relative position of new motion unit PPU NewVel F64 IN The velocity of this imposed motion unit PPU s Return Value Error Code Comments
116. axis s starting position is 0 The X_Pos and Y Pos of CAM Table s last line that is the last CAM Point must be ModuleRange 0 which means the Master axis rotates a circle and the Slave axis backs to the starting position 0 a No CAM Point s serial number b X Pos horizontal position coordinate Master axis s position c Y Pos vertical position coordinate Slave axis s position d Range The distance between reference point and CAM Point For detail refer to the description about PointRange in Acm DevDownloadCAMTable function which is listed in Common API of Programming guide The default value is the edited value of poin tRange You can change the value by editing it When you add more CAM Points the pointRange will be also changed If you want to change pointRange of edited CAM Point directly modify it in CAM Table e Slope the slope between two reference points of CAM Point For detail refer to the description about PointSlope in Acm DevDownloadCAMTable function which is listed in Common API of Programming guide The default value is the value in Slope editing box which can be modified by editing the value in the edit box the slope of following added CAM Point will be the modified value in the edit box If you want to change the Slope of edited CAM Point directly edit in CAM Table Note The range of Slope value is from 10 to 10 If the value is less than N 10 it will be 10 by default And if the value is larger than 10
117. bject reserves direction and moves the ORG signal disap pears then reverses direction again and continues to move the ORG signal occurs again At last motion is stopped when EZ signal occurring m STATUSS If there is no ORG signal occurring EL signal happens before ORG signal the object reverses direction when EL signal happens and continues to move and then the ORG signal from happening to disappearing Reverses direction again continues to move the ORG signal will happen and disappear again At last motion is stopped when EZ signal occurring 10 MODE10 AbsSearch NegRef Search ORG NegEZ Move Dir gt Search ORG gt Stop gt Move Dir gt touch EZ gt Stop Firstly object moves in the way of MODE7 AbsSearch and then moves in opposite direction until EZ signal occurring For example Dir Positive Limit logic Active High ORG logic Active High AbsSearch NegEZ EL EZ ORG EL STATUS1 OFEI On OFF on OFF on OFF On OFF EL EZ ORG EL OFF On OFF On OFF OFF On OFF statusz CEE On EL EZ ORG EL OFF On OFF fon OFF on ore OFF fon OFF STATUS3 a b a m STATUS1 If the object is out of the field of EZ signal and ORG signal when home command is written Firstly the object will move until ORG signal occur ring then reverse direction and continue to move until EZ signal occurring m STATUS2 If the object is in the field of ORG signal the home command is writ ten firstly the object
118. c Electricity Follow these simple precautions to protect yourself from harm and the products from damage 1 To avoid electrical shock always disconnect the power from your PC chassis before you work on it Don t touch any components on the CPU card or other cards while the PC is on Disconnect power before making any configuration changes The sudden rush of power as you connect a jumper or install a card may damage sensitive electronic components iii PCI 1285 1285E User Manual Warnings Cautions and Notes Warning Warnings indicate conditions which if not observed can cause personal injury Caution Cautions are included to help you avoid damaging hardware or losing data e g A There is a danger of a new battery exploding if it is incorrectly installed Do not attempt to recharge force open or heat the battery Replace the battery only with the same or eguivalent type recommended by the man ufacturer Discard used batteries according to the manufacturer s instructions Note Notes provide optional additional information PCI 1285 1285E User Manual IV Contents Chapter1Introduction1 1 1 ate Y LL Le EEA OY O I A A AH PHA REF RF FERF 2 1 2 APPICATION Saamansa i aisan ana oy GU tut ut nace eared aati tenet 2 1 3 Installation Guide liii ua aanta svaa vaaka aan ana N AWARE Manda OND NAWN RaNNMN STN ANUN audav aAN 3 1 4 ACCessSOofleSi ii Y aa tasan ana aa aa NN kaiman KANE auuie aN kalua a Ny EAN HAK
119. can not be slave axis of ganry If the command actual position of master axis is reset command actual position of slave axis is reset same value too About the gantry operation see about E Gear gantry flow chart in Chapter 6 2 2 PCI 1285E does not support this API 6 3 4 15 Stop 6 3 4 15 1 Acm AxStopDec Format U32 Acm AxStopDec HAND AxisHandle Purpose Command the axis to decelerate and stop Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Return Value Error Code Comments If the axis is in synchronous drive mode for example the slave axis of E cam E gear Tangent motion then the API can be used to terminate the synchronization 6 3 4 15 2 Acm AxStopEmg Format U32 Acm AxStopEmg HAND AxisHandle Purpose Command the axis to stop without decelerating Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Return Value Error Code Comments If the axis is in synchronous drive mode for example the slave axis of E cam E gear Tangent motion then the API can be used to terminate the syn chronization PCI 1285 1285E User Manual 148 6 3 5 6 3 5 1 6 3 4 15 3 Acm AxStopDecEx Format U32 Acm AxStopDecEx HAND AxisHandle F64 NewDec Purpose Command the axis to stop and specify the deceleration Parameters Name Type In or Out Description AxisHandle HA
120. closing PCI 1285 1285E User Manual 168 and the paths contained in PathHandle are deleted from driver at the same time 6 3 5 5 4 Acm GpUnloadPath Format U32 Acm GpUnloadPath HAND GroupHandle PHAND PathHandle Purpose Unload path data Parameter Name Type In or Out Description GpHandle HAND IN Group handle from Acm_GpAddAxis PathHandle PHAND IN Pointer to path handle from Acm GpLoadPath Return Value Error Code Comments 6 3 5 5 5 Acm GpMovePath Format U32 Acm GpMovePath HAND GroupHandle HAND PathHandle Purpose Start continuous interpolation motion Path Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm GpAddAxis PathHandle PHAND IN Pointer to path handle from Acm GpLoadPath Return Value Error Code Comments If the PathHandle is returned by Acm_GpLoadPath the path data will be passed to system path buffer first then driver start path motion If the PathHandle is NULL the path data in system path buffer will be executed directly 6 3 5 5 6 Acm GpGetPathStatus Format U32 Acm GpGetPathStatus HAND GroupHandle PU32 pCurlndex PU32 pCurCmdFunc PU32 pRemainCount PU32 pFreeSpaceCount Purpose Get current status of path buffer Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm_GpAddAxis pCurlndex PU32 OUT Return current index of path data in path buffer
121. cm AxOpen DiChannel U16 IN Digital input channel 0 3 BitData PU8 OUT DI value O or 1 Return Value Error Code Comments 6 3 4 12 Ext Drive 6 3 4 12 1 Acm AxSetExtDrive Format U32 Acm AxSetExtDrive HAND AxisHandle U16 ExtDrvMode Purpose Enable or disable external drive mode Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen ExtDrvMode U16 IN 0 Disabled stop command 1 JOG Mode 2 MPG Mode 3 JOG Step mode reserved Return Value Error Code Comments PCI 1285 1285E User Manual 142 6 3 4 13 Cam Gear 6 3 4 13 1 Acm AxCamlnAx Format U32 Acm AxCamlnAx HAND AxisHandle HAND MasAxisHandle F64 MasterOffset F64 SlaveOffset F64 MasterScaling F64 SlaveScaling U32 CamrTablelD U32 RefSrc Purpose This function starts cam synchronization with a cam table between a slave following axis and master leading axis Camming is done with one table two dimensional describing master and slave positions together The table should be strictly monotonic rising or falling going both reverse and forward with the master Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm_AxOpen this han dle should be slave following axis han dle MasAxisHandle HAND IN Axis handle from Acm_AxOpen this han dle should be master leading axis han dle MasterOffset F64 IN Shifting the cam along t
122. dex 0 9999 Repeat U8 IN Repeat count 0 255 PCI 1285 1285E User Manual 170 Return Value Error Code Comments Command to move paths which index is between StartIndex and Endlndex If PathHandle is null it will move specified paths in system path buffer If PathHandle is not null the paths in PathHandle will be loaded in system path buffer firstly then move specified paths If the value of Repeat is zero the specified paths will be executed continuosly and repeatly until stoping group motion If value of Endlndex is greater than path count in system path buffer it will move paths between Startlndex path and last index path in system path buffer 6 3 5 5 8 Acm GpGetPathlndexStatus Format Acm GpGetPathlndexStatus HAND GroupHandle U32 Index PU16 CmdFunc PU16 MoveMode PF64 FH PF64 FL F64 EndPoint DataArray PF64 CenPoint DataArray PU32 ArrayElements Purpose Get the status of specified index path in system path buffer Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm_GpAddAxis Index U32 IN Index of path 171 PCl 1285 1285E User Manual CmdFunc PU16 OUT Return current command function in executing 0 EndPath 1 Abs2DLine 2 Rel2DLine 3 Abs2DArcCW 4 Abs2DArcCCW 5 Rel2DArcCW 6 Rel2DArcCCW 7 Abs3DLine 8 Rel3DLine 9 Abs4DLine not support 10 Rel4DLine not support 11 Abs2DDirect 12
123. e Axis Flow Chart Multi Axes Motion Operation Acm Reset Optional Configuration i Optional a Line Move Direct Move Arc Move Acm GpMovelineRel Acm GpMoveArcRel Acm GpMoveDirectRel Acm_GpMoveLineAbs Acm GpMoveArcAbs Acm GpMoveDirectAbs Group Busy Other Operatio Stop Motion Acm_GpStopDec Acm_GpStopEmg Other Process Figure 6 4 Multiple Axis Operation Flow Chart PCl 1285 1285E User Manual 60 6 2 2 4 E cam Flow Chart Edit Cam table by Utility or Other Tool Acm_DevDownLoadCAMTable Acm_DevLoadCAMTableFile Figure 6 5 Cam Operation Flow Chart 61 PCI 1285 1285E User Manual 6 2 2 5 E Gear Gantry Flow Chart Gear Gantry Operation amie ama Acm_Reset I Optional Fee N Configuration I Optional Slave Axis states Synchronous driving Slave Axis Acm AxStopDec Acm AxStopEmg Stop Gantry Gear Figure 6 6 Gear Gantry Operation Flow Chart PCI 1285 1285E User Manual 62 6 2 2 6 Tangential Following Flow Chart Tangent Operation Esse Acm Reset l Optional ea U t Configuration l Optional Slave Axis states Synchronous driving Slave Axis Y Acm AxStopDec Acm_AxStopEmg v Y stop Tangent Figure 6 7 Tangential Following Operation Flow Chart 63 PCI 1285 1285E User Manual 6 2 3 Example Support List VB Lab
124. e Enables Disables the SD signal for source axis SD Logic Sets the active logic for SD signal SD React Sets the reacting mode for SD signal SD Latch Sets the latch control for SD signal Simulate Simulate Start Sets the simulate start source for this axis PCI 1285 1285E User Manual 34 SLMT SLMT Mel Enable Enables Disables the minus software limit for source axis SLMT Pel Enable Enables Disables the plus software limit for source axis SLMTN React Sets the reacting mode for minus software limit SLMTP React Sets the reacting mode for plus software limit SLMTN Value Sets the value for minus software limit SLMTP Value Sets the value for plus software limit Speed Pattern Max Velocity Configures the max velocity for source axis Max Acc Configures the max acceleration for source axis Max Dec Configures the max deceleration for source axis Max Jerk Configures the max jerk for source axis Vel Low Sets the low velocity start velocity for source axis Unit PPU S Vel High Sets the high velocity driving velocity for source axis Unit PPU S Acc Sets the acceleration for source axis Unit PPU S2 Dec Sets the deceleration for source axis Unit PPU S2 Jerk Sets the type of velocity profile t curve or s curve for source axis Vibration Vibration Enable Enables Disables suppress vibration of mechanical system for s
125. e file edited and saved by Utility into device Parameters Name Type In or Out Description DeviceHandle HAND IN Device handle from Acm DevOpen FilePath Pl8 IN Pointer to a string that saves CamTable file s path CamTablelD U32 IN CamTablelD O or 1 Range PU32 OUT The pulse number which master needed in one period PointsCount PU32 OUT The points number in CamTable Return Value Error Code Comments The CamTable file is saved in bin format in utility When it is loaded successfully by this API the API Acm DevDownLoadCACMTable need not be called About E cam operation see about E Cam Flow Chart in Chapter 6 2 2 PCI 1285 1285E do not support this API PCI 1285 1285E User Manual 104 6 3 2 12 Acm DevMDagConfig Format U32 Acm DevMDagConfig HAND DeviceHandle U16 ChannellD U32 Period U32 AxisNo U32 Method U32 ChanType U32 Count Purpose Set MotionDAO related configurations Parameters Name Type In or Out Description DeviceHandle HAND Device handle form Acm DevOpen ChannellD U16 Specify a Channel ID The range is 0 3 Period U32 Set an interval time between each data The range is O 255 and unit is ms AxisNo U32 Specify an axis The range is 0 3 PC11245 45E 0 5 PCI1265 Method U32 Methods to trigger MDag Disable Software trigger DI trigger Axis 0 starts to trigger Axis
126. e range is 0 3 Period PU32 OUT Get interval time between each data The range is 0 255 and the unit is ms AxisNo PU32 OUT Get related informationof an axis The range is 0 3 PCl 1245 1245E 0 5 PCI 1265 Method PU32 OUT Methods to trigger MDag 0 Disable Software trigger DI trigger Axis O starts to trigger Axis 1 starts to trigger Axis 2 starts to trigger Axis 3 starts to trigger Axis 4 starts to trigger Axis 5 starts to trigger Axis 6 starts to trigger 10 Axis 7 starts to trigger 11 Axis 8 starts to trigger 12 Axis 9 starts to trigger 13 Axis 10 starts to trigger 14 Axis 11 starts to trigger O 0 4 O O FS ON ChanType PU32 OUT Get Channel Type 0 Command Position 1 Actual Position 2 Lag Position Difference value between Com mand Position and Actual Position 3 Command Velocity Count PU32 OUT Get the max count The range is 0 2000 Return Value Error Code Comments PCI 1285 1285E do not support this API PCI 1285 1285E User Manual 106 6 3 2 14 Acm DevMDagStart Format U32 Acm DevMDagStart HAND DeviceHandle Purpose Enable MotionDAQ function to record related data Parameters Name Type In or Out Description DeviceHandle HAND IN Device Handle Comments When Method in Acm DevMDagConfig is set to MO TRIG SW command can be sent through this API to trigger MotionDAQ
127. ear the current curve in graphic box will be cleared 5 4 4 6 5 Save Click Save the specified path curve will be save as png gif jpg tif or bmp for mat 43 PCI 1285 1285E User Manual 5 4 4 7 Speed Chart Fl Group Speed View Velocity VS Time Setting Velocity Group Max 10000 Time Group Length 20 Sec Spd Curve Color Blu v H Zoom V Zoom 2 E 3 a 5 2 o Start Clear Save J The setup and operation are similar to Speed Chart in Single Axis Motion 5 4 5 Path Status To display the path status Path Status CurIndex 0 CurCmd 0 Path Count 0 Remain a FreeCnt 10000 Curlndex The serial number of path currently running CurCmd The command code of path currently running Remain Unexecuted path number FreeCnt The remain space of Path Buffer Path Count The total path number in loaded Path file 5 4 6 Position Fosition Reset Counter Display the current command and feedback position for all axes of device Click Reset Counter to reset to 0 5 4 7 State amp Status Group State Show the current Group s State For detail refer to the description about State in Acm GpGetState function which is listed in Common API of Programming guide Last Error Status display the latest error message Axis Name The axis which has error Error Code The error code Error Message The specific error message PCl 1285 1285E Us
128. ecified through CFG AxMaxAcc CFG AxMaxDec by the slave axis must exceed Acc Dec by 100 000 at least 6 3 4 14 Gantry Tangent 6 3 4 14 1 Acm AxTangentlnGp Format U32 Acm AxTangentlnGp HAND AxisHandle HAND MasGroupHandle PI16 StartVectorArray U8 Working plane 116 Direction Purpose Command axis to move at same direction with tangent of group path Parameters Name Type In or Out Description AxHandle HAND IN Axis handle from Acm AxOpen MasGroupHandle HAND IN Group handle from Acm_GpAddAxis StartVectorArray Pl16 IN Must be 3 dimension Working plane U8 IN O XY 1 YZ 2 XZ Direction 116 IN Same 0 Opposite 1 Return Value Error Code Comments The axis will be synchronous state and will follow group motion at the direction of tangent of group s path if this function is called successfully The axis and group can not be reset command actual position Using Acm AxStopDec Acm AxStopEmg will terminate synchronous state of the axis and it will return SteadBy state The axis can not be one axis in group PCl 1285 1285E User Manual 146 StartVectorArray is the initial vector which is starting direction of axis For example StartVectorArray 3 0 10 0 working plane 0 XY plane A S tart vector 3 0 10 0 Note The start vector should be as close as possible with group s motion starting direction or else there may be the error of motion accelerator g
129. ect View Code to enter the program source code compilation interface as follows amp Lock Controls P Properties d Add Imports Advantech Motion under original referred namespaces as follows imports Advantech Moti oni 26Public Class Forml 3 4 End Class S 3 Coding a UI design Double click Form1 vb or right click to select View Designer on Form1 vb then the UI edit interface will appear as follows PCl 1285 1285E User Manual 88 od Solution Test Advantech Motion VB 1 S el Test Advantech Motion VB My Project Y Open Open With E View Code y View Class Diagram Exclude From Project You can drag any Control Component you need from the left Toolbox to edit user interface as follows Paste Foral vb Desi cale Stort Pace Will All Windows Foras N R Pointer ad Forai 2 olx K BackgroundWorker qa BindingNavigator ty BindingSource CheckBox J z z s CheckedListBox 5 ColorDialog E8 ComboBox E ContextMenuStrip A DataGridView 39 DataSet Ni DateTimePicker E DirectoryEntry E1 DirectorySearcher For details refer to the Microsoft Visual Basic user manual b Coding Right click on Form1 vb to select View Code then you enter the coding interface you can code in relevant method event of control Component For detail refer to VB NET Examples of PCI 1285 1285E DSP Based SoftMotion PCI Controller 4 _ Test program After
130. ee about Acm GpMoveHelixAbs 3P PCI 1285E does not support this API 6 3 5 4 14 Acm GpMoveCircularRel Angle Format U32 Acm GpMoveCircularRel Angle HAND GroupHandle PF64 CenterArray U16 Degree PU32 ArrayElements l16 Direction Purpose Complete circular interpolation through relative center coordinates and angle amp direction of rotaion PCI 1285 1285E User Manual 162 Parameters Name Type In or Out Description GroupHandle HAND IN Group handle from Acm_GpAddAxis CenterArray PF64 IN Relative distance between center point and start point Degree U16 IN Angle of rotation Range 0 360 pArrayElements PU32 IN Axis count Direction 116 IN Direction 0 CW Dir 1 COW Dir Return Value Error Code Comments Start Point R CW Dir W Relative Center Point PCI 1285E does not support this API 6 3 5 4 15 Acm GpMoveCircularAbs Angle Format U32 Acm GpMoveCircularAbs Angle HAND GroupHandle PF64 Center Array U16 Degree PU32 ArrayElements l16 Direction Purpose Complete circular interpolation through absolute center coordinates and angle amp direction of rotaion Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm GpAddAxis CenterArray PF64 IN Center coordinates Degree U16 IN Angle of rotation Range 0 360 ArrayElements PU32 IN Axis count Direction 116 IN Direction 0 CW Dir 1 CCW_Dir
131. emAllocateFailed 0x80000005 InvalidHandle 0x80000006 CreateFileFailed 0x80000007 OpenEventFailed 0x80000008 EventTimeOut 0x80000009 InvalidlnputParam 0x8000000a PropertylDNotSupport 0x8000000b PropertylDReadOnly 0x8000000c ConnectWinlrgFailed 0x8000000d InvalidAxCfgVel 0x8000000e InvalidAxCfgAcc 0x8000000f InvalidAxCfgDec 0x80000010 InvalidAxCfgJerk 0x80000011 InvalidAxParVelLow 0x80000012 InvalidAxParVelHigh 0x80000013 InvalidAxParAcc 0x80000014 InvalidAxParDec 0x80000015 InvalidAxParJerk 0x80000016 InvalidAxPulselnMode 0x80000017 InvalidAxPulseOutMode 0x80000018 InvalidAxAlarmEn 0x80000019 InvalidAxAlarmLogic 0x8000001a InvalidAxInPEn 0x8000001b InvalidAxInPLogic 0x8000001c InvalidAxHLmtEn 0x8000001d InvalidAxHLmtLogic 0x8000001e InvalidAxHLmtReact 227 PCI 1285 1285E User Manual 0x8000001f InvalidAxSLmtPEn 0x80000020 InvalidAxSLmtPReact 0x80000021 InvalidAxSLmtPValue 0x80000022 InvalidAxSLmtMEn 0x80000023 InvalidAxSLmtMReact 0x80000024 InvalidAxSLmtMValue 0x80000025 InvalidAxOrgLogic 0x80000026 InvalidAxOrgEnable 0x80000027 InvalidAxEzLogic 0x80000028 InvalidAxEzEnable 0x80000029 InvalidAxEzCount 0x8000002a InvalidAxState 0x8000002b InvalidAxInEnable 0x8000002c InvalidAxSvOnOff 0x8000002d InvalidAxDistance 0x8000002e InvalidAxPosition 0x8000002f InvalidAxHomeModeKw 0x80000030 In
132. emaining pulse is not enough when the velocity of each phase is being changed then the new velocity will be auto matically calculated For example path1 VL 1000 VH 5000 path 2 VL 1000 VH 8000 path 3 VL 1000 VH 10000 During Path1 if ChangeV is run and New Velocity 10000 then velocity of the sec ond path should be 16000 and velocity of the third path should be 20000 However the real status is as below PCI 1285 1285E User Manual 158 Speed curve after changing Original speed curve velocity Velocity VS Time Velocity VS Time Change Velocity m BlendingMode Blending Enable BlendingTime gt 0 In this mode each path in Path Buffer doesn t have a complete process of accelera tion deceleration Its velocity path is decided by BlendingTime and the FL of each phase For details please refer to Acm GpAddPath If the ChangeV function is run in motion status then the velocity of path of the current phase will accelerate decelerate to new velocity and thus the velocity of each phase will increase decrease propor tionally If the remaining pulse is not enough when the velocity of each phase is being changed then the new velocity will be automatically calculated For example path1 VL 1000 VH 5000 path 2 VL 1000 VH 8000 path 3 VL 1000 VH 10000 During Path1 if ChangeV is run and New Velocity 10000 then velocity of the sec ond path should be 16000 and velocity of the third path sho
133. er Manual 44 Single Axis Motion Wulti Axis Motion Synchronized Notion 5 5 Synchronized Motion G Code Slave Miz Operation Raster Wris Operation Slave Axis PCI 1205E ONE DEKS v Master Aris Synchronized Mode Notion Parans Set Gear 22xAW z itor gt 2L0ad CanTadle File Distance rm CM Motion Configuration VelLon 2000 PPUSS CAMTable ID 0 v Canning Type Bon periodic iw VelKigh 8000 PPUSS N Nester Movement Node Slave Novenent ode AG 100 ppuis 2 ra O Mbzelate Relative Absoluta Relative 2 Dec 1000 Preuss NasterD amp fset 0 Slaveffset Spasd Pattara Path neu MaxterSealingl SlaveSealing 1 G Trapezi O S curv Referance Source Davsload CANTabLe Motion Mode Command Pos Fasdback Pos v Se Dror gt Continue Set Parameters Vian Sat Range Rozat Counter Waster Avis Slave Axis Cora and a o Feedback 0 0 Current Axis Status Master State Body Slave State Beady 5 5 1 Slave Axis Operation 5 5 1 1 Slave Axis Select any one of Device s axes to be slave axis Note Master axis and slave axis cannot be the same one The default slave axis is 0 axis of the selected device 5 5 1 2 Synchronized Mode Select the synchronized mode CAM Gear and Gantry You must select synchro nized mode first before the configuration and establishment of synchronized motion 5 5 1 3 CAM Motion Select CAM as Synchronized Mode then you can execute the CAM setup and oper ation
134. escription GpHandle HAND IN Group handle from Acm GpAddaxis AxHandle HAND IN Axis handle from Acm AxOpen Return Value Error Code Comments After Acm GpRemAxis is called and no axis is in group the GpHandle can still be used You can use this group handle to add other axes But if you have called Acm GpClose to close this group handle the group handle can t be used again 6 3 5 1 3 Acm GpClose Format U32 Acm GpClose PHAND pGroupHandle Purpose Remove all axis in the group and close the group handle Parameters Name Type In or Out Description GpHandle PHAND IN Point to group handle to be closed Return Value Error Code Comments If the group number is greater than maximal group number of device new group can not be created At the time you must close one existing group if you want to create new group 6 3 5 1 4 Acm GpResetError Format U32 Acm GpResetError HAND GroupHandle Purpose Reset group states PCI 1285 1285E User Manual 150 6 3 5 2 Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm_GpAddAxis Return Value Error Code Comments If the group is in STA GP ERROR STOP state the state will be changed to STA_GP_READY after calling this function Motion Status 6 3 5 2 1 Acm GpGetState Format U32 Acm GpGetState HAND GroupHandle PU16 pState Purpose Get the group s current state Parameters
135. ess because all of speed parameters used in path motion are of group speed setting all of path have the same driving speed The speed curve 167 PCI 1285 1285E User Manual The motion path Path3 BlengdingTime 0 Path 6 3 5 5 2 Acm GpResetPath Format U32 Acm GpResetPath PHAND GroupHandle Purpose Clear system path buffer If there is group executing path the path motion will be stopped Parameters Name Type In or Out Description GpHandle PHAND IN Pointer to group handle from Acm GpAddAxis Return Value Error Code Comments 6 3 5 5 3 Acm GpLoadPath Format U32 Acm_GpLoadPath HAND GroupHandle PI8 FilePath PHAND PathHandle PU32 pTotalCount Purpose Load path data from path file It can load up to 600 path data one time Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm_GpAddAxis FilePath PI8 IN Point to a file path name of the motion path data to be loaded PathHandle PHAND OUT Return the pointer to path handle pTotalCount PU32 OUT Return actual total count of path data in the path file Return Value Error Code Comments The path data file binary is usually generated by Motion Utility s Path Editor If you are familiar with Advantech motion product you can create file by yourself The PathHandle must be unloaded by Acm GpUnloadPath when the PathHandle does not be used any more or application is
136. etting of group is used PCI 1285E does not support this mode Speed curve using speed forward function Original Speed curve speed Path3 Paths Path lt Pathi ANN PCl 1285 1285E User Manual 224 6 4 4 2 Parameter 6 4 4 2 1 Speed Pattern 6 4 4 2 1 1 PAR GpVelLow Data Type F64 R W RW PropertylD 701 Meaning Set low velocity start velocity of this group Unit PPU s This property value must be smaller than or egual to Par GpVelHigh The default value is the first added axis PAR AxVelLow 6 4 4 2 1 2 PAR GpVelHigh Data Type F64 R W RW PropertylD 702 Meaning Set high velocity driving velocity of this group Unit PPU s This property value must be smaller than first added axis CFG AxMaxVel and greater than Par GpVelLow The default value is the first added axis PAR AxVelHigh 6 4 4 2 1 3 PAR GpAcc Data Type F64 R W RW PropertylD 703 Meaning Set acceleration of this group Unit PPU s2 This property value must be smaller than or egual to first added axis CFG AxMaxAcc The default value is the first added axis PAR AxAcc 6 4 4 2 1 4 PAR GpDec Data Type F64 R W RW PropertylD 704 225 PCI 1285 1285E User Manual Meaning Set deceleration of this group Unit PPU s2 This property value must be smaller than or egual to first added axis CFG AxMaxDec The default value is the first added axis PAR AxDec 6 4 4 2 1 5 PAR GpJerk Data Type F64 R W RW Prope
137. evice Tree is visible the corresponding menu item will be checked 5 2 1 4 Help About Check up to date on the web The About menu item supports the copyright notice of the driver and utility for device Click Check up to date on the web you can link to company s website to check whether the firmware driver and utility are the latest ones by comparing ver sion information of Install interface 5 2 2 Toolbar Eu E i rw gt i i Install Refresh Save Load DownLoad Motion DAQ Hide Tree 5 2 2 1 Install Click Install a new window will pop up as below which shows the version informa tion of driver hardware firmware and utility ES Device Install Information Name i Description ADVMOT dll Common Motion Library Advantech Motion dll a lb Motion DOTNET Component Library Common Motion Utility exe Pa a J Common Motion Utility Application PCI1285s sys iB ee Kernel Mode Driver PCI1285 dll cy i User Mode Driver DSP Firmware ap M O DSP Firmware FPGA Firmware 70 026 FPGA Firmware of hardware Click Copy the first two raw information will be copied You can paste the informa tion to editor such as word or text editor First column is name the second column is version number and the third column is description ADVMOT dll is the common interface for development Advan 23 PCI 1285 1285E User Manual 5 2 2 2 5 2 2 3 5 2 2 4 5 2 2 5 tech Motion dll is the NET motion control library Common Motio
138. firmware FPGA firmware is for footprint U2 and U7 respectively U2 and U7 are printed in PCB Both download and upgrade procedure are the same but you shall be aware that the PC is necessary to reboot after FPGA firmware upgraded Then the new FPGA firmware will be truly updated The top of this dialog shows the current device type name and firmware version Click Open File to select lastest firmware file you have acguired Clicking Start Download will activate the downloading procedure to hardware and progress bar will show the task process Note 1 After clicking Start Download the dialog cannot be terminated N when downloading the firmware to hardware 2 While downloading due to power outages or other problems if download process is not complete the hardware needs to be sent back to Advantech for firmware update Motion DAQ The tool is mainly to show Motion Data Acquisition function In PCI 1245 1265 four channels are provided for motion data acquisition Each of them can acquire Com mand Actual Lag the difference between Command and Actual motion data of any axis with the max data count of 2000 Note So far only PCI 1245 PCI 1245V PCI 1245E and PCI 1265 support this function and the tool button is available PCI 1285 1285E don t support this function After you click the button you ll see the interface as below Display Chwedl O NY lor Chwedl M Geen Chwed 2 I Fed Chussl M Bleck
139. h group n is just 1 GpEvtStatus is 32 bits data type array and currently the values of n can only be 1 Bite Data 31 n0 1 0 GpEnable EVT GPn EVT_GP1_ EVT_GP0_ EvtArray MOTION_ MOTION MOTION_ 0 DONE DONE DONE GpEnable _ Description EVT_GPn_ EVT_GP1_ EVT_GPO_ Ehys VH START VH START VH START 1 a W y k Bit n 1 Group Motion Done event occurred Bit n 0 Event not occurred or disabled Note EVT GPn MOTION DONE EVT GPn VH START EVT GPn VH END n is GrouplD It can be get form PAR GpGrouplD property EVT GPn EVT GP1 EVT_GP0_ VH_END VH_END VH END AxArrayElements U32 Number of AxEvtStatusArray elements GpArrayElements U32 Number of GpEvtStatusArray elements It should be 1 Millisecond U32 Specify the time out value in millisecond for each checking Return Value Error Code Comments If you want to get event status of axis or groups you should enable these events by calling Acm EnableMotionEvent User should create a new thread to check event status 99 PCI 1285 1285E User Manual 6 3 2 8 Acm EnableMotionEvent Format U32 Acm EnableMotionEvent HAND DeviceHandle PU32 AxEnableEvtAr ray PU32 GpEnableEvtArray U32 AxArrayElements U32 GpArrayElements Purpose Enable motion event Parameters Name Type In or Out
140. h to VelLow with Dec at the end 31 PCI 1285 1285E User Manual 5 3 4 2 External Drive Click External Dirve a new form will appear as below you can select an external drive mode JOG MPG to operate external drive ES External Drive Drive Mode Oi O MPG hand wheel Set Ext Drive Close Select JOG or MPG and click Set Ext Drive the external drive mode will be set and you can operate external drive then Click Close the form will be closed and the external drive is set to Disable Note For PCI 1285 1285E only axis 0 is available for external drive as E J master axis 5 3 4 3 Axis Setup Click the button to check set the axis s attributes and I O as follows aJ Axis Property Configuration X Alarm Name Configuration Value Copy To Axes lt Aux Gen Output gt Aea Ed ALM_DIS J Backlash i Axis Basic Info Alarm Logic ALM ACT LOW 2 Axis ERC Alarm React ALM DEC T0 STOP mis J External Drive 4 Axis wv i HLNT d Select All J Home J Pulse In J Pulse Out J SLMT Emg Logic EMG ACT LOW v Enables Disables motion Alarm function for source axis Alarm is a signal generated by motor drive when motor Note It configure drive is in alarm status the active logic for emergency stor signal of this motion device The left tree view shows the classification of axis s properties when you click the cor responding item the right side Data View will list the
141. he coordinates of the master axis SlaveOffset F64 IN Shifting the cam along the coordinates of the slave axis MasterScaling F64 IN Scaling factor for the cam in the coordi nates of the master axis The overall master profile is multiplied by this fac tor This should be Larger than zero SlaveScaling F64 IN Scaling factor for the cam in the coordi nates of the slave axis The overall slave profile is multiplied by this factor This should be Larger than zero CamTablelD U32 IN Identifier of CAM table It is assigned by Acm DevDownloadCAMTable The PCI 1245 and PCI 1265 reserves 2 cam tables So the ID can be O 1 RefSrc U32 IN Cam table s master position reference to command position 0 or actual position 1 0 Command position 1 Actual position Return Value Error Code Comments If this command is set successfully salve axis will move according to cam curve fitted by CamTable when master axis is moving continuously or point to point Can not set command acutual position for salve aixs and master axis by Acm AxSetCmdPosition or Acm AxSetAcutalPosition To terminate follow relationship of slave axis user can call Acm AxStopDec Acm AxStopEmg and the slave axis will be readby status 143 PCI 1285 1285E User Manual The pulse number of master axis rotated 360 degree should be set by prop erty CFG AxModuleRange The edited CamTable needs to set by Acm DevDownloadCAMTable and related E
142. he detail information of PropertylD see about Property List 6 3 2 6 Acm GetLastError Format U32 Acm GetLastError HAND ObjectHandle Purpose Get device or axis or group s last error code Parameters Name Type In or Out Description DeviceHandle HAND IN Object handle This handle may be device han dle from Acm DevOpen or axis handle from Acm AxOpen or group handle from Acm_GpAddAxis Return Value Error Code Comments To get detail information of error code by Acm_GetErrorMessage PCI 1285 1285E User Manual 98 6 3 2 7 Acm CheckMotionEvent Format U32 Acm CheckMotionEvent HAND DeviceHandle PU32 AxEvtStatusArray PU32 GpEvtStatusArray U32 AxArrayElements U32 GpArrayElements U32 Millisecond Purpose Check axis and groups enabled motion event status Parameters Name Type In or Out Description DeviceHandle HAND IN Device handle from Acm DevOpen AxEvtStatusArray PU32 IN Array n Returned interrupt event status of each axis n is the axis count of motion device Each array element is 32 bits data type each bit represents different event VPS Bit 316 fe 4 m EVT AX EVI AX levt AX LATCHED VH END VH START ERROR joo 1285 EVT E Description Reserved Bit n 1 Te Motion Done event ad Bit n 0 Event not occurred or disabled GpEvtStatusArray PU32 IN OUT Array n Returned Interrupt event status for eac
143. he edit box 5 3 2 5 2 Start Click Start the graphic box will be ready to draw the curve if the axis is in motion you can see the trajectory After clicked the text on Start button will change into Stop click Stop drawing the curve will stop and the text will back to Start 5 3 2 5 3 Clear Click Clear the current curve in graphic box will be cleared 5 3 2 5 4 Save Click Save the specified path curve will be saved as png gif jpg tif or omp for mat SVON Click SVON the servos of axes will be turned on and the text on it will change into SVOFF click SVOFF the servos of axes will be turned off and the text on it will be back to SVON Configuration It includes Home Mode configuration External Drive mode the property configura tion and I O status of the axis Home Mode Before performing home movement you need to select the mode first Board offers 16 modes which are any one or combination of the ORG back to the origin Lmt back to the limit point and EZ to find Z phase For detailed information refer to the description about Home Mode in Common API of Programming guide Click Home Mode a new form appears as below PCI 1285 1285E User Manual 30 HE Home Node Setup Home Mode iB EU Hub EL i STATUS1 oe al LOFF amp a gt e Ei Bi STATUS2 OFF Jon OFF On OFF MODE2_Lmt Move Mir gt touch EL gt Stop Description Only according to limit
144. he following parameters need to be configured 1 Tangent Follow Axis Select tangent follow axis As the axis can not be axes added in Group so the axis listed in the combobox does not includes axes added in Group 2 Start Vector the start vector of tangent follow motion In Utility the default refer ence plane is X Y you only need to set X vector and Y vector Z axis is not nec essary to edit 3 _ Direction The direction of tangent follow axis in motion which can be the same as or opposite to the direction of Group s motion 4 ModuleRange The module range of tangent follow axis that is the pulse num ber of tangent follow axis s one revolution 360 degrees There are related diagram and description below the configuration There Click OK Tangent In the tangent follow axis will establish tangent follow synchroni zation with the Group After that if the Group do interpolation motion the following axis will move along the tangent direction of the interpolation motion lf the tangent follow axis has established tangent follow synchronization with the Group click Tangent In again the value of parameters in the form will be the configured value and you can click Tangent Stop to dissolve the synchronization relationship Click Cancel nothing will do but close the form Tangent follow movement is not supported by PCI 1285E 5 4 4 5 2 Tangent Stop Click Tangent Stop to dissolve the synchronization relationship betwee
145. heckedLi stBox 3 ColorDi log ComboBox Mi ContextMenuStrip Al DataGridView a DataSet T DateTimePicker 5 DirectoryEntry il DirectorySearcher For detail refer to Microsoft Visual C user manual b Coding Right click on Form1 cs to select View Code then you enter the coding interface you can code in relevant method event of control Component For detail refer to C Examples of PCI 1285 1285E Series DSP Based SoftMotion PCI Controller 85 PCI 1285 1285E User Manual 4 _ Test program After the programming or if you want to compile the program you can click Build gt Build Solution MBuild Test Advantech Motion in the menu bar as follows Build Debug Data o Tools Window Commur E Build Solution F6 Rebuild Solution Clean Solution 5 Build Test Advantech Motion ShifttF6 Rebuild Test Advantech Motion Clean Test Advantech Motion Publish Test Advantech Motion Batch Build Configuration Manager You can directly click p in the toolbar the program will run if there is no error If you want to debug the program you can set breakpoint at corresponding line of code by clicking or pressing F9 as follows Ja namespace Test_Advantech Motion 10 11 public partial class Forml Form 12 13 n public Form O 14i 15 fini tializeComponent 16 1Tif 18 4 Click Debug gt Start Debugging to debug when run to the breakpoint you can press F11 or F10 to step in
146. his is a mode of searching transformation of limit signal from no signal to signal occurring For Example Dir Positive Limit logic Active High LmtSearch EL EL STATUS1 OFFJOn OFF OFF On OFF m EL EL STATUS2 off on OFF or On OFF b c STATUS1 If the Limit signal is occurred firstly while the object is moving the home process is end STATUS2 If the object is in the field of limit signal The Object moves in oppo site direction until the signal disappears and then converts direction to move until limit signal occurring MODE9 AbsSearch Ref Search ORG EZ Move Dir gt Search ORG gt Stop gt Move Dir gt touch EZ gt Stop Firstly object moves in the way of MODE7 AbsSearch and then moves in same direction until EZ signal occurring For example Dir Positive Limit logic Active High ORG logic Active High AbsSearch EZ 2 EL ORG EZ El STATUS1 On OFF On OFF On OFF On OFF a N 2 EL ORG EZ El OFF lo STATUS Off On OFF On OFF On OFF n OFF h 2 EL ORG EZ ELK 4 ors On OFF On OFF On orF OFF On OFF STATUS3 a b a 131 PCI 1285 1285E User Manual m STATUS1 If the object is out of the field of EZ signal and ORG signal when home command is written firstly the object will move until ORG signal occur ring then continue to move until EZ signal occurring m STATUS2 If the object is in the field of ORG signal the home command is writ ten Firstly the o
147. ignal input 14 SVON Servo ON OUT6 15 ALRM Alarm Reset output status 16 SLMT Software Limit 17 SLMT Software Limit 18 CMP Compare signal OUT5 19 CAMDO position window do OUT4 Return Value Error Code Comments PCl 1285 1285E User Manual 114 6 3 4 3 Motion Status 6 3 4 3 1 Acm AxGetMotionStatus Format U32 Acm AxGetMotionStatus HAND AxisHandle PU32 Status Purpose Get current motions status of the axis Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm_AxOpen Status PU32 OUT Bit Description 0 Stop Stop 1 Res1 Reserved 2 WaitERC Wait ERC finished 3 Res2 Reserved 4 CorrectBksh Correcting Backlash 5 Ress Reserved 6 InFA Feeding in return velocity FA 7 InFL Feeding in StrVel speed FL 8 InACC Accelerating 9 InFH Feeding in MaxVel speed FH 10 InDEC Decelerating 11 WaitINP Wait in position Return Value Error Code Comments 115 PCI 1285 1285E User Manual 6 3 4 3 2 Acm AxGetState Format U32 Acm AxGetState HAND AxisHandle PU16 State Purpose Get the axis s current state Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen State PU16 IN Axis states Value Description 0 STA AxDisable Axis is disabled you can open it to
148. igure Bit 7 to 0 from right to left are digital inputs respectively Wherein indicates that the DI is in effect ON and the value of the bit is 1 indi cates that the DI is not in effect OFF and the value of the bit is 0 Hex indicates the hexadecimal value of the byte composed by 8 Dis This function is not supported by PCI 1285 1285E Digital Output Mainly shows the status of device s digital output port and the corresponding ON OFF operation on DO In PCI 1265 there are 8 DOs This function is not supported by PCI 1285 1285E lea Single Acis Motion gaf Mubti Acis Motion ge Synchronized Motion EV Digital nos EF Dicit oeut KA Analog Input l 0000 000900 O O As the above figure Bit 7 to O from right to left are digital outputs Wherein indi cates that the DO is connected ON and the value of the bit is 1 indicates that the DO is not connected OFF and the value of the bit is 0 Hex indicates the hexadeci mal value of the byte composed by 8 DOs Analog Input Shows the status of device s analog input channels In the PCI 1265 there are two Al channels gt Es Single Axis Motion GF Multi Axis Motion QS Synchronized Motion FA Digital Input digital Output EA Analog Input ChannelMo Input Range Analog Input Value a Channel Mode single ended channel v i ee ee lt gt 0 10 10V v As the above the parameters are as follows Channel No Al index PCI 1265 has two
149. iled 0x80005214 Dsp_InvalidPathCnt 0x80005215 Dsp InvalidPathHandle 0x80005216 Dsp InvalidPath 0x80005217 Dsp GpSlavePositionOverMaster 0x80005219 Dsp GpPathBufferOverflow 0x8000521a Dsp InvalidPathFunctionlD 0x8000521b Dsp SysBufAllocateFailed 0x8000521c Dsp InvalidGpCenterPosition 0x8000521d Dsp InvalidGpEndPosition 0x8000521e Dsp_InvalidGpCmd 0x8000521f Dsp_AxHasBeenInInGp 0x80005220 Dsp_InvalidPathRange 233 PCl 1285 1285E User Manual PCI 1285 1285E User Manual 234 Software Function Comparison Table A 1 Software Function Comparison Table Item Description PCI 1285 PCI 1285E Single axis motion Jog move N V MPG move N N T amp S curve speed profile N y Prog acc and dec y N Point to point motion N N Position Speed Override N y Velocity motion y N Backlash compensation N N Superimposed move y Multi axes up to 4 groups 4 groups 4 groups Motion Group motion Line up to 8 axes 3 axes 2 axes Functions 2 axes Circular N N Speed Override y Helical V Home 16 modes V N Path table motion 3 Tables size 10K points N N Start End motion list N line trajectory up to 8 axes N N Add arc trajectory 2 axes y Add Dwell V V Start Sop Repeat y N Auto Blending y Gantry Application Velocity look ahead Velocity look ahead Refer to N Function function call acm gpmovepath Tangential Following y
150. in the range specified by MotionDAQ that has been recorded by corresponding channel Parameters Name Type In or Out Description DeviceHandle HAND IN Device Handle ChannellD U16 IN Channel ID The range is 0 3 Startlndex U16 IN Set start posiiton to get data MaxCount U16 IN Set data count DataBuffer PI32 OUT Return data in the specified range Comments PCI 1285 1285E do not support this API PCI 1285 1285E User Manual 108 6 3 3 DAQ 6 3 3 1 Digital Input Output 6 3 3 1 1 Acm DagDiGetByte Format U32 Acm_DagDiGetByte HAND DeviceHandle U16 DiPort PU8 ByteData Purpose Get the data of specified DI port in one byte Parameters Name Type In or Out Description DeviceHandle HAND IN Device handle from Acm DevOpen DiPort U16 IN It should be 0 ByteData PU8 OUT Pointer of returned byte data Return Value Error Code Comments PCI 1285 1285E do not support DI 6 3 3 1 2 Acm DagDiGetBit Format U32 Acm DagDiGetBit HAND DeviceHandle U16 DiChannel PU8 BitData Purpose Get the bit data of specified DI channel Parameters Name Type In or Out Description DeviceHandle HAND IN Device handle from Acm DevOpen DiChannel U16 IN DI channel BitData PU8 OUT Returned bit data O or 1 Return Value Error Code Comments PCI 1285 1285E do not support DI 109 PCl 1285 1285E User Manual 6 3 3 1 3 Acm DagDoSetByte
151. indow Output 15 PCI 1285 1285E User Manual 3 14 3 15 3 16 3 17 3 18 Activate Servo ON SVON This SVON is to generate a digital output to activate the servo drive to be ready for move status Servo Error Counter Clear ERC The deviation counter clear is generated by servo drive and the board can receive it as a general purpose input The counter will be cleared by some instances homing emergency stop case servo alarm and over travelling limit activated Position Compare Output CMP This is specially designed for the customers who can use the position compare out put to synchronize with other 3rd party vision devices For PCI 1285 1285E the posi tion compare output channel is determined by pin definition CMP JOG and MPG The JOG and MPG mode could be supported by pin assignment Xn IN3 amp Xn IN4 n 0 2 4 6 These two pins could be switchable Xn IN3 has three functions general purpose digital input JOG and MPG Xn IN4 also has three functions general purpose digital input JOG and MPG The circuit is as follow 3 3V User Interface VEX Xn IN Simultaneous Start and Stop within Multiple Cards Simultaneous start and stop within multiple cards is supported by connecting the CN2 and CN3 on each card one by one For the function call of simultaneous start and stop refer to chapter 6 PCI 1285 1285E User Manual 16 Common Motion API This chapter introduces common motion API a
152. ints created by black points and assigned PointRange and PointSlope are called reference points Cam curve is fitted by points in CamTable composed of MasterArray and SlaveArray The horizontal axis is the pulse number when master axis moves at some angles The vertical axis is the pulse number of slave axis when master moves at some angels Range must be set into master axis by property CFG_AxModuleRange About cam operation see about E Cam Flow Chart in Chapter 6 2 2 6 3 2 10 Acm DevConfigCAMTable Format U32 Acm DevConfigCAMTable HAND DeviceHandle U32 CamTablelD U32 Periodic U32 MasterAbsolute U32 SlaveAbsolute Purpose This function sets the relevant parameters of the cam table Parameters Name Type In Out Description DeviceHandle HAND IN Device handle This handle is device handle from Acm DevOpen CamTablelD U32 IN Identifier of Cam table Itis assigned by Acm DevDownloadCAMTable Device reserves 2 cam tables So the ID can be O 1 Periodic U32 IN CAM curve is executed periodic or non periodic 0 non periodic 1 periodic MasterAbsolute U32 IN Interpret cam curve relative 0 or absolute 1 to the master axis O relative 1 absolute SlaveAbsolute U32 IN Interpret cam curve relative 0 or absolute 1 to the slave axis O relative 1 absolute Return Value Error Code Comments Camming is done with one table two dimensional describing master and slave positions together
153. inues to move uniformly at Vell ow until ORG singal occurs At last axis moves in opposite direction again until EZ sig nal occurs For example Dir Positive Limit Logic Active High ORG Logic Active High AbsSearchReFind NegEZ EL EZ ORG EL STATUS1 OFF a OFF On OFF fon OFF On OFF EL EZ ORG EL OFF On OFF On OFF OFF On OFF status FH On EL EZ ORG EL OFF On OFF fon OFF OFF On OFF sTaTus3 OEF On AbsSearch process has three situations For detailed information see about descriptions in MODE7 AbsSearch 16 MODE16 LmtSearchRefind Ref Search EL Refind EL EZ Move Dir gt Search EL gt Stop gt Move Dir gt Leave EL FL gt Stop gt Move Dir gt Refind EL FL gt Stop gt Move Dir gt touch EZ gt Stop Firstly axis moves in the way of MODE8_LmtSearch and then moves uniformly in opposite direction at VelLow until EL signal disappears Then axis reverses the direction again and continues to move uniformly at VelLow until EL singal occurs At last axis moves in opposite direction again until EZ signal occurs For example Dir Positive Limit Logic Active High 135 PCI 1285 1285E User Manual LmtSearchReFind NegEZ EL M EZ EL STATUS1 OFF On OFF On OFF On Jorg EL EZ EL OFF On OFF On OFF status2 2EE On LmtSearch process has three situations For detailed information see about descriptions in MODE8 LmtSearch 6 3 4 8 Positio
154. iption 0 Enable Disable stop function 1 Stop logic high stop or low stop 2 Stop mode decelerating sudden stop Config 6 4 3 2 1 System 6 4 3 2 1 1 CFG AxPPU Data Type U32 R W RW PropertylD 551 Meaning Pulse per unit PPU a virtual unit This property value must be greater than 0 This property value s change will affect CFG AxMaxVel CFG AxMaxAcc CFG AxMaxDec PAR AxVelHigh PAR AxVelLow PAR AxAcc PAR AxDec PAR GpVelHigh PAR GpVelLow PAR GpAcc PAR GpDec PAR HomeCrossDistance Comments The default value is 1 197 PCI 1285 1285E User Manual 6 4 3 2 1 2 CFG AxPhylD Data Type U32 R W R PropertylD 552 Meaning Get physical ID of the axis Value Meaning 0 axis 1 axis 2 axis 3 axis 4 axis 5 axis 6 axis N OD oy BR OINI oO 7 axis Comments 6 4 3 2 2 Speed Pattern 6 4 3 2 2 1 CFG AxMaxVel Data Type F64 R W RW PropertylD 553 Meaning Configure the max velocity for the motion axis Unit PPU s Comments This property s max value FT AxMaxVel CFG AxPPU and min value 1 CFG AxPPU In PCI 1285 1285E the default value is 4 000 000 6 4 3 2 2 2 CFG AxMaxAcc Data Type F64 R W RW PropertylD 554 Meaning Configure the max acceleration for the motion axis Unit PPU S PCI 1285 1285E User Manual 198 Comments This property s max value FT AxMaxAcc CFG AxPPU and min value
155. is set into master axis The smallest Physical ID axis and other axes in group start stop as the same time as master axis Mostly direct interpolation is applied to the axis assembled as obligue angle At most it just supports 3 axes linear interpolation in PCI 1285 and 2 axes linear interpolation in PCI 1285E 6 3 5 4 2 Acm_GpMoveLinearAbs Format U32 Acm GpMoveLinearAbs HAND GroupHandle PF64 PositionArray PU32 pArrayElements Purpose Command group to execute absolute line interpolation Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm GpAddAxis PositionArray PF64 IN Position array of axis in group each value of array elements represent the axis absolute position pArrayElements PU32 IN OUT Element count in the array This count must equal to the axis count in this group or else it will be returned axis count in group Return Value Error Code Comments The sequence of data in PositionArray must follow the order of X axis Y axis Z axis U axis For example if one group has two axes Y axis and U axis The first data in PositionArray means Y axis absolute position and the second data means U axis absolute position The unit of distance in PositionArray is PPU of each axis in group The difference between line interpolation and direct interpolation line interpolation s speed is divided into even line speed for every axis axis moves at this even
156. ited Path is not wrong The Path will be run one by one according to the serial number You can observe movement curve and corresponding state from Path Status Path Plot and Speed Chart 5 4 4 4 4 Move Sel Path Do continuous interpolation movement with path s selected from loaded Path file After loading Path click Move Sel Path to activate the dialog m Path Config Start Index J End Index 2 Times 1 1 Start Index select the starting serial number of Path 2 Endlndex select the end serial number of Path 3 Times executable times The value is O to 255 If you set 0 it means an infinite loop until you click Stop to terminate the loop 5 4 4 4 5 Speed Forward If the value is Checked the Group s speed forward function will be enabled For detail refer to the description about CFG GpSFEnable in Group which is listed in property list of Programming guide 5 4 4 4 6 Blending Time For detail refer to the description about CFG GpBldTime in Group which is listed in property list of Programming guide 41 PCI 1285 1285E User Manual 5 4 4 5 Tangent Follow Movement 5 4 4 5 1 Tangent In Click Tangent In the follow dialog will be shown l Tangent In Config Tangent Follow Axis PCI 1245 MT 2 Axis v Start Vector 252 0 co 10 Direction G 2 Same O Opposite ModuleRange 3600 Pulse Axis State Ready Tangent Stop Cancel S tart vector 3 0 10 0 gt X T
157. its Description 0 ERC Output when home finish 1 ERC Output when EMG ALM EL active 2 ERC Output when home finish or EMG ALM EL active 3 31 Not defined Comments 6 4 3 1 8 SD 6 4 3 1 8 1 FT AxSdMap Data Type U32 R W R PropertylD 316 Meaning Get the Slow Down SD features supported by this motion axis Bits Description 0 Enabled 1 Logic 2 React 3 31 Not defined Comments In this PCI 1285 1285E the value is 0 6 4 3 1 9 Hardware Limit 6 4 3 1 9 1 FT_AxEIMap Data Type U32 R W R PropertylD 317 189 PCI 1285 1285E User Manual Meaning Get the hardware end limit EL features supported by this motion axis Bits Description 0 Enabled 1 Logic 2 React 3 31 Not defined Comments 6 4 3 1 10 Software Limit 6 4 3 1 10 1 FT AxSwMelMap Data Type U32 R W R PropertylD 318 Meaning Get the software minus limit features supported by the motion axis Bits Description 0 Enabled 1 React 2 Value 3 31 Not defined Comments 6 4 3 1 10 2 FT AxSwPelMap Data Type U32 R W R PropertylD 319 Meaning Get the software plus limit features supported by the motion axis Bits Description 0 Enabled 1 React 2 Value 3 31 Not defined Comments 6 4 3 1 11 Home 6 4 3 1 11 1 FT AxHomeMap Data Type U32 PCI 1285 1285E User Manual 190 R W R Prope
158. l EZ signal occurring m STATUS2 If the object is in the field of EL signal the object will move in oppo site direction until EZ signal occurring m STATUS3 Ifthe object is in the field of EZ signal the home command is written the object begins to move Firstly the EZ signal disappears and then EL signal occurs at the same time reverses motion direction At last motion stops when EZ signal occurring 7 MODE7 AbsSearch Move Dir gt Search ORG gt Stop This is a mode of searching transformation of ORG signal from no signal to sig nal occurring For Example Dir Positive ORG logic Active high Limit logic Active High AbsSearch EL ORG EL STATUS1 _OFF On OFF On OFF On OFF _ EL ORG ELi OFF On OFF On OFF statusz OEH On h EL ORG EL OFF On OFF On OFF On OFF STATUS3 PCI 1285 1285E User Manual 130 STATUS1 If there is no ORG signal occurring the object will stop when ORG signal occurs STATUS2 If the object is in the field of ORG signal The Object moves in oppo site direction until the signal disappears and then converts direction to move until ORG signal occurring STATUS3 If there is no ORG signal occurring EL signal happens while moving firstly the object reverses direction and continues to move and then the ORG signal from happening to disappearing Reverses direction again and moves until ORG signal occurring Motion stops MODE8 LmtSearch Move Dir gt Search EL gt Stop T
159. l be Disable When the number of axis added to the Group is greater than or egual to 2 Group s State will be Ready then after you configure appropriate parameters you can do appropriate interpolation operation 5 4 2 Motion Params Set The parameter set includes Group VelLow Group VelHigh Group Acc Group Dec and Speed Pattern 5 4 3 Motion Ends Configure motion s center end as follows Axes Line End PPU Arc Center PPV Arc End PPU NEN 2000 8000 16000 l Axis 8000 2 Axis 8000 S Axis 8000 The dialog will automatically enable the edit box writable by referring to group axis and interpolation mode As in the Figure 1 axis and 2 axis are added to Group and Line interpolation mode is selected thus the edit boxes writable are 1 axis and 2 axis Lines of the Line End PPU column whose background color is white The edit boxes whose background color are gray indicate they are not editable 5 4 4 Motion Operation 5 4 4 1 SVON Click SVON the servos of axes in Group will be turned on 5 4 4 2 SVOFF Click SVOFF the servos of axes in Group will be turned off 5 4 4 3 Basic Interpolation Motion Basic interpolation motion includes linear interpolation Line circular interpolation Arc and helical interpolation Helix as follows Basic Interpolation Motion Movement Mode Interpolation Mode O Absolute Relative s Line Arc Direction On Om 5 4 4 3 1 Movement Mode Absolute the interp
160. lD 580 205 PCI 1285 1285E User Manual Meaning Set get the reacting mode of plus software limit Value Description 0 Motor immediately stops 1 Motor decelerates then stops Comments In PCI 1285 1285E the default value is 1 6 4 3 2 9 5 CFG_AxSwMelValue Data Type 132 R W RW PropertylD 581 Meaning Set get the value of minus software limit The property value s range is 2 147 483 647 2 147 483 647 Comments 6 4 3 2 9 6 CFG AxSwPelValue Data Type 132 R W RW PropertylD 582 Meaning Set get the value of plus software limit The property value s range is 2 147 483 647 2 147 483 647 Comments 6 4 3 2 10 Home 6 4 3 2 10 1 CFG_AxOrgLogic Data Type U32 R W RW PropertylD 589 Meaning Set get the active logic for ORG signal Value Description 0 Low active 1 High active Comments In PCI 1285 1285E the default value is 1 PCI 1285 1285E User Manual 206 6 4 3 2 10 2 CFG AxEzLogic Data Type U32 R W RW PropertylD 591 Meaning Set get the active logic for EZ signal Value Description 0 Low active 1 High active Comments In PCI 1285 1285E the default value is 1 6 4 3 2 10 3 CFG AxHomeResetEnable Data Type U32 R W RW PropertylD 602 Meaning Enable or Disable logical counter reset function after finish Home Value Description 0 Disabled 1 Enabled Comments 6 4 3 2
161. lableDevs devList MAX CNT amp devCnt if errcde 0 printf Can not find available device n getchar return O printf Get available devices successfully in Step2 Open device devNum devList 0 dwDeviceNum errcde Acm_DevOpen devNum amp devHandle if errcde 0 printf Open device is failed n getchar return O printf Open device successfully An Step3 After open device successfully user can get necessary property buffLen sizeof axisCntPerDev errcde Acm GetProperty devHandle FT DevAxesCount axisCntPerDev amp buf fLen if errcde SUCCESS Acm_DevClose amp devHandle printf Get property is failed n getchar return 0 printf Get property successfully n Step2 Open the axes for i 0 i lt axisCntPerDev i 77 PCI 1285 1285E User Manual errcde Acm AxOpen devHandle i amp axHandle i if errcde 0 printf Open axis_0 is failed in getchar return 0 printf Open axes successfully n Stp3 Move relative Axis 0 Point to Point motion errcde Acm_AxMoveRel axHandle 0 10000 if errcde 0 printf move axis Ois failed An getchar return O printf Command axis 0 to move point to point successfully An Step 4 At last Close axis and device before application exit for i 0 i lt axisCntPerDev i errcde Acm_AxClose amp axHandle i if errcde 0 printf Open
162. le disable INI trigger stop function Comments Value Description 0 Enabled 1 Disabled 6 4 3 2 19 2 CFG AxIN1StopReact Data Type U32 R W R amp W PropertylD 636 Meaning Set get INI trigger stop mode Comments Value Description 0 Sudden stop 1 Decelerating 6 4 3 2 19 3 CFG AxIN1StopLogic Data Type U32 R W R amp W PropertylD 637 217 PCI 1285 1285E User Manual Meaning Set get the active logic of IN1 trigger stop function Comments Value Description 0 Active low 1 Active high 6 4 3 2 19 4 CFG AxIN2StopEnable Data Type U32 R W R amp W PropertylD 638 Meaning Enable disable IN2 trigger stop function Comments Value Description 0 Enabled 1 Disabled 6 4 3 2 19 5 CFG_AxIN2StopReact Data Type U32 R W R amp W PropertylD 639 Meaning Set get IN2 trigger stop mode Comments Value Description 0 Sudden stop 1 Decelerating 6 4 3 2 19 6 CFG AxIN2StopLogic Data Type U32 R W R amp W PropertylD 640 Meaning Set get the active logic of IN2 trigger stop function PCI 1285 1285E User Manual 218 Comments Value Description 0 Active low 1 Active high 6 4 3 2 19 7 CFG AxIN4StopEnable Data Type U32 R W R amp W PropertylD 641 Meaning Enable disable IN4 trigger stop function Comments Value Description 0 Enabled
163. le s path Return Value Error Code PCI 1285 1285E User Manual 94 Comments Configuration file can be binary or text file If the file extension is bin driver reads the file in binary format Otherwise driver reads the file in INI text format User should debug device and set necessary configuration by Utility then save these configuration information into file This configuration file can be loaded in user s application by calling Acm DevLoadConfig If user wants to save configuration information in bin file format the saved data structure MOT DEV CONFIG of configuration information should be as follow typedef struct MOT AX CONFIG ULONG PlsPerUnit DOUBLE MaxVel DOUBLE MaxAcc DOUBLE MaxDec DOUBLE MaxJerk DOUBLE VelHigh DOUBLE VelLow DOUBLE Dec DOUBLE Acc ULONG PlsinMde ULONG PlsinLgc ULONG PlsinMaxFreg ULONG PlsOutMde ULONG AlmEnable ULONG AlmLogic ULONG AlmReact ULONG InpEnable ULONG InpLogic ULONG ErcLogic ULONG ErcEnMde ULONG ElEnable ULONG ElLogic ULONG ElReact ULONG SwMelEnable ULONG SwPelEnable ULONG SwMelReact ULONG SwPelReact ULONG SwMelValue ULONG SwPelValue ULONG OrgLogic ULONG EzLogic ULONG HomeModeEx ULONG HomeExSwitchMode DOUBLE HomeCrossDis 95 PCI 1285 1285E User Manual ULONG HomeResetEnable ULONG BacklashEnable ULONG BacklashPulses ULONG BacklashVel ULONG CmpSrc ULONG CmpMethod ULONG CmpPulseLogic ULONG CmpPulseWid
164. ll be loaded to comparator and if the current position matches the comparator pulse will be generated the next compare data will be loaded to comparator automatically Before setting compare data set property CFG AxCmpEnable to CMP Enable first If you want to close compare function you only need to set property CFG AxCmpEnable to CMP Disable and nothing is necessary to clear compare data You can set CFG_AxCmpSrc to SRC COMMAND POSITION or SRC ACTUAL POSITION As long as any of the three functions Acm AxSetCmpData Acm AxSetCmpAuto Acm AxSetCmpTable is called the previously compared data will be cleared At most there are 100 000 compare data This function just supports X axis and Y axis currently If CFG AxGenDoEnable is enabled the compare function will be disabled so the compare signal will not be output PCI 1285E does not support this API 6 3 4 9 4 Acm AxGetCmpData Format U32 Acm AxGetCmpData HAND AxisHandle PF64 CmpPosition Purpose Get current compare data in the comparator Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen CmpPosition PF64 OUT Compare data Unit PPU 139 PCI 1285 1285E User Manual Return Value Error Code Comments PCI 1285E does not support this API 6 3 4 10 Latch 6 3 4 10 1 Acm AxGetLatchData Format U32 Acm AxGetLatchData HAND AxisHandle U32 PositionNo PF64 Position
165. ltaneous start axis and make it output simultaneous start signal to start all axis that are waiting for start trigger Parameter Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Return Value Error Code Comments If more than one ax is waiting on start trigger user should set the mode of simultaneous starting stopping by CFG AxSimStartSource before this API PCI 1285E does not support this API 6 3 4 6 5 Acm AxSimStop Format U32 Acm_AxSimStop HAND AxisHandle Purpose Stop the axis and make the axis output a simultaneous stop trigger to stop all axis that are waiting for the stop trigger Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Return Value Error Code Comments When doing simultaneous operation you can do this operation on any axis to stop all axis if the Simultaneous starting mode is on STA Or else every simultaneous axis needs to call this API to stop simultaneous motion About simultaneous starting stopping mode see about CFG AxSimStartSource PCI 1285E does not support this API Home 6 3 4 7 1 Acm AxHome Format U32 Acm AxHome HAND AxisHandle U32 HomeMode U32 Dir Purpose To command axis to start typical home motion The 11 types of typical home motion are composed of extended home 125 PCI 1285 1285E User Manual Parameters Name Type In or Out
166. ltiple Axis Operation Flow Chart 99 60 Figure 6 5 Cam Operation Flow Chart 61 Figure 6 6 Gear Gantry Operation Flow Chart 62 Figure 6 7 Tangential Following Operation Flow Chart 63 6 2 3 Example Support LiSt coouuoussun nn nannaa eL i nananana 64 6 2 4 PCl 1285 1285E Support API List 65 6 2 5 Property Support LiSt osoouuussun n an nana LLI LLY ninne 70 6 2 6 Creating a New Application uuusuusssn nn nannaa 74 Figure 6 8 Open File to Creating a New VC Application 74 Figure 6 9 Creating a New VC Console Application 75 Figure 6 10Setting Calling Convention uusssssnin neen 75 PCI 1285 1285E User Manual 2 6 3 6 4 6 5 Appendix A A 1 Appendix B B 1 B 2 B 3 B 4 B 5 B 6 B 7 Figure 6 11 Folder Content of This Example eee 76 Figure 6 12Add Head Files Path oossouss s naan 76 Figure 6 13Setting Lib File Path ecsuuuussse nnen naaaeeen 76 Figure 6 14 Result of VC Sonsole Example ccccceeeeees 79 Figure 6 15Load VB Development Environment 79 Figure 6 16Add Module Files into Project 80 Figure 6 17Design the FOFM eeececceeeeeseeeeeeeeeeeeeeeeeenaeeeeeeeeaaas 80 Figure 6 18 The Execution Result eee ceeeeeesseeeeeeeenneeeeeeeenaees 82 Funcion LIST mkvata aisa dey no Ysy Uva Hahaha kaa ectthyesQeadengueeducetu
167. mation Product Warranty 2 years Advantech warrants to you the original purchaser that each of its products will be free from defects in materials and workmanship for two years from the date of pur chase This warranty does not apply to any products which have been repaired or altered by persons other than repair personnel authorized by Advantech or which have been subject to misuse abuse accident or improper installation Advantech assumes no liability under the terms of this warranty as a consequence of such events Because of Advantech s high quality control standards and rigorous testing most of our customers never need to use our repair service If an Advantech product is defec tive it will be repaired or replaced at no charge during the warranty period For out of warranty repairs you will be billed according to the cost of replacement materials service time and freight Consult your dealer for more details If you think you have a defective product follow these steps 1 Collect all the information about the problem encountered For example CPU speed Advantech products used other hardware and software used etc Note anything abnormal and list any onscreen messages you get when the problem occurs 2 Call your dealer and describe the problem Have your manual product and any helpful information readily available Part No 2003128500 Edition 1 Printed in Taiwan May 2013 PCl 1285 1285E User Manual ii 3 lf y
168. mi Form1 fim 25 Modules 8 Module1 ADVMOT bas 3 Module2 General bas Figure 6 16 Add Module Files into Project 4 Design the form Formi DOR Open DeviceNumber Ten Open Device amp Axes Close Device amp Axes Combol v Move RelPtp 10000 Command Position 0 Figure 6 17 Design the Form 5 Write the code The variables definitions are as follow Option Explicit Dim m_DevHand As Long Dim m_dwDevNum As Long Dim AxisPerDev As Long Dim m_AxisHand As Long Dim m CurAxis As Long Dim m_avaDevs As DEVLIST When form is loaded find the available devices by API Acm_GetAvailableDevs The code is as follow Private Sub Form_Load Dim Result As Long Dim i DeviceNumber As Long Dim strTemp As String ReDim m_avaDevs 16 ReDim m_AxisHand 32 Get available devices by Acm_GetAvailableDevs Result Acm GetAvailableDevs m avaDevs 0 MAX DEVICES DeviceNumber If Result lt gt SUCCESS Then MsgBox no available device in system voOKOnly error PCI 1285 1285E User Manual 80 Exit Sub End If If DeviceNumber lt gt 0 Then m_dwDevNum m_avaDevs 0 dwDeviceNum tx_DevNum Text Ox Hex m_dwDevNum Timer Interval 200 Else MsgBox no available device in system voOKOnly error End IfEnd Sub Click Open Device amp Axes the device and axes in the device will be opened The timer is enabled The combox will contain all of axes The code is as follow Private Sub btn OpenDev Click
169. mments 6 4 3 1 14 Latch 6 4 3 1 14 1 FT AxLatchMap Data Type U32 R W R PropertylD 325 PCI 1285 1285E User Manual 192 Meaning Get axis supported latch features Bits Description 0 Enabled 1 Logic 2 31 Not defined Comments 6 4 3 1 15 Cam DO 6 4 3 1 15 1 FT AxCamDOMap Data Type U32 R W R PropertylD 326 Meaning Get axis supported CamDO features Bits Description 0 Enabled 1 CamDOLogic 2 CamDOCmpSrc 3 CamDOLoLimit 4 CamDOHiLimit 5 CamDOMode 6 CamDODir 7 31 Not defined Comments 6 4 3 1 16 Ext Drive 6 4 3 1 16 1 FT_AxExtDriveMap Data Type U32 R W R PropertylD 327 193 PCI 1285 1285E User Manual Meaning Get axis supported external drive features Bits Description ExtMasterSrc ExtSelEnable ExtPulseMode 0 1 2 ExtPulseNum 3 4 ExtPresetNum 5 31 Not defined Comments 6 4 3 1 16 2 FT AxExtMasterSrcMap Data Type U32 R W R PropertylD 328 Meaning Get axis supported external drive master source Bits Description 0 axis 0 1 axis 1 2 axis 2 3 axis 3 4 31 Not defined Comments 6 4 3 1 17 Aux Gen DIO 6 4 3 1 17 1 FT AxGenDOMap Data Type U32 R W R PropertylD 329 Meaning Get axis supported general output from OUT4 to OUT7 Bits Description 0 OUT4 CAM DO 1 OUT5 TRIG_ Position 2 OUT6 SVON 3 OUT7
170. n Counter Control 6 3 4 8 1 Acm AxSetCmdPosition Format U32 Acm AxSetCmdPosition HAND AxisHandle F64 Position Purpose Set command position for the specified axis Parameters Name Type lnorOut Description AxisHandle HAND IN Axis handle from Acm AxOpen Position F64 IN New command position uint PPU Return Value Error Code Comments 6 3 4 8 2 Acm AxGetCmdPosition Format U32 Acm AxGetCmdPosition HAND AxisHandle PF64 Position Purpose Get current command position of the specified axis Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Position PF64 OUT Return the command position uint PPU Return Value Error Code Comments PCI 1285 1285E User Manual 136 6 3 4 9 6 3 4 8 3 Acm AxSetActualPosition Format U32 Acm AxSetActualPosition HAND AxisHandle F64 Position Purpose Set actual position for the specified axis Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Position F64 IN New actual position uint PPU Return Value Error Code Comments 6 3 4 8 4 Acm AxGetActualPosition Format U32 Acm AxGetActualPosition HAND AxisHandle PF64 Position Purpose Get current actual position of the specified axis Parameters Name Type In or Out Description AxisHandle HAND IN
171. n Utility exe is the utility which is running now The fourth and fifth lines are driver files Kernal Mode and User Mode which depends on device type the sixth line is DSP firmware and the seventh line is FPGA of the hardware Note Only DSP based motion control card will show the DSP and FPGA E i information Refresh This button supports refresh function Click Refresh Device Tree will re load the Device No device is selected by default after operation Save This button can save all properties of the axes of the selected device Load This button can import configurations of all axes of the selected device After the device is selected click the button an Open Dialog box will appear Select the previ ously exported configuration file and click OK you can import the configuration file into the Device hardware Download For PCI 1285 1285E series it s DSP based motion controller After clicking device you can see the interface as follows a Firmware Download Device Type PCI1285E Current DSP Firmware Version 1 3 0 0 Download DSP Firmware File Path File Version gt gt Open file Start Download Percentage 0 Download FPGA Firmware File Path Chip ID Hardware Version File Version gt gt Open file Start Download Percentage 0 Status Ready Current FPGA Firmware Version a 0 0 6 PCI 1285 1285E User Manual 24 5 2 2 6 The tool is to upgrade the DSP and FPGA
172. n tangent fol low axis and the Group Tangent follow movement is not supported by PCI 1285E PCI 1285 1285E User Manual 42 5 4 4 6 Path Plot Display the group motion curve Click Path Plot the following form will appear io Group Path View DER Setting Horizontal Setting Horizontal Source l Axis v Horizontal PosType Command Position Horizontal Max 8000 Horizontal Min 2000 Y HZoomEnable Vertical Setting Vertical Source 2 Axis v Vertical PosType Command Position W Vertical Max 8000 Vertical Min 2000 VZoomEnable 5 4 4 6 1 Setting Set the horizontal and vertical coordinates 1 Horizontal setting a Horizontal Source Horizontal data source Ist axis of group sorted by the order being added by default You can choose any axis in group b Horizontal PosType Horizontal position type you can choose command or feedback position c Horizontal Max Horizontal maximum coordinate d Horizontal Min Horizontal minimum coordinate 2 Vertical setting same way as horizontal setting 5 4 4 6 2 Set Click Set to activate the effectiveness 5 4 4 6 3 Start Click Start the graphic box will be ready to draw the curve If Group is in motion you can see the trajectory After clicked the text on Start button will change into Stop click Stop drawing the curve will be stopped and the text will back to Start 5 4 4 6 4 Clear Click Cl
173. nable the test is also displayed as grey If the board supports this function and enable this function then the test will be display as normal Multi Axes Motion Single Axis Motion Multi Aris Motion i Synchronized Motion G Code Operate Axes v r2 PCI 1285E PCI 1285E FCI 1205E PCI 1285E PCI 1285F 0114 O Axiz M14 1 Axis M14 2 Axis 14 3 Axis M14 4 Awic se SVON svor Line End PPU 6000 6000 8000 8000 Motion Params Set VelLow 100000 VelHigh 500000 Ace 5000000 Dec 10000 Speed Pattern Traperia Set Parameters Path Status CurIndex Renain Po sition Position Command Feedback sl 0 o o o O S curve Basic Interpolation Motion Motion Operation Movement Mode O Absolute Relative Arc Direction O cw Path Motion O cor Arc Center PPU 6000 o 8000 o r a 16000 a Interpolation Mode O Line Mova Arc End PPU 18000 Edit Path Load Path Move Path gt XMeve Sel Path 7000 PCI 1285 1285E User Manual Path Count O YPath Plot Speed Chart Reset Fath 38 Reset Counter 5 4 1 Operate Axes The checkedListBox in the form will list all axes of the selected device check the Checkbox of corresponding axis you can add the axis into the Group When the number of axis added to the Group is less than 2 Group s State wil
174. nd align the gold striped edge connector with the expansion slot socket Press the card into the socket gently but firmly Make sure the card fits the slot tightly Use of excessive force must be avoided otherwise the card might be damaged 6 Fasten the bracket of the PCI card on the back panel rail of the computer with screws 7 Connect appropriate accessories 100 pin cable wiring terminals etc if neces sary to the PCI card 8 Replace the cover of your computer and connect the cables you removed in step 2 9 Turn on your computer gt 7 PCl 1285 1285E User Manual PCI 1285 1285E User Manual Signal Connections This chapter provides in ion about how to connect input and output signals 3 1 I O Connector Pin Assignments The I O connector on the PCI 1285 1285E is a 200 pin connector that enables you to connect to accessories via the PCL 101100SB shielded cable Figure 3 1 and figure 3 2 show the pin assignments for the 200 pin I O connector on the PCI 1285 1285E and table 3 1 shows its I O connector signal description Note The PCL 101100SB shielded cable is especially designed for the N PCI 1285 1285E series to reduce noise in the analog signal lines 5 Refer to section 1 4 Accessories CN1B Pin100 CN1B Pin1 CN1A Pin100 CN1A Pin1 Figure 3 1 I O connector CN1A CN1B for PCI 1285 1285E VEX VEX VEX VEX EMG NC EMG EMG NC EMG XO LMT X2_LMT X4_LMT X6_LMT X0_LMT X2_LMT X4_LMT X6_LMT X0_IN
175. nd it will always add a trailing null to end the string If the buffer is too small the error message may be truncated Acm_DevWriteEEPROM_Ex Format U32 Acm_DevWriteEEPROM_Ex HAND DeviceHandle U16 PrivatelD PU32 Pass WordArray U32 PassArrayCnt PU32 WriteArray U32 BufferLength Purpose Write the protective private data and password to EEPROM Totally 8 sets are allowed and there are 8 bytes password and 8 bytes data per set Parameters Name Type In or Out Description DeviceHandle HAND IN DeviceHandle PrivatelD U16 IN 0 7 PassWordArray PU32 IN Password array pointer PassArrayCnt U32 IN Password length is 2 per set WriteArray PU32 IN Write data array pointer BufferLength U32 IN Data length is 2 per set Return Value Error Code Comments The default value of password and protective data is 0 It will overwrite original value without checking password while writing data PCI 1285 1285E User Manual 92 6 3 1 4 Acm DevReadEEPROM Ex Format Acm DevReadEEPROM Ex HAND DeviceHandle U16 PrivatelD PU32 PassWor dArray U32 PassArrayCnt PU32 ReadArray U32 BufferLength Purpose Input the right password to read the private data There are 8 sets and 8 bytes for password and 8 bytes for data per set Parameters Name Type In or Out Description DeviceHandle HAND IN DeviceHandle PrivatelD U16 IN 0 7 PassWordArray PU32 IN Password
176. ning Get Device interrupt number Comments 6 4 1 2 4 CFG DevBusNumber Data Type U32 R W R PropertylD 205 179 PCI 1285 1285E User Manual Meaning Get device bus number Comments 6 4 1 2 5 CFG DevSlotNumber Data Type U32 R W R PropertylD 206 Meaning Get device slot number Comments 6 4 1 2 6 CFG DevDriverVersion Data Type char R W R PropertylD 207 Meaning Get SYS driver s version The format is 1 0 0 1 Comments 6 4 1 2 7 CFG DevDIIVersion Data Type char R W R PropertylD 208 Meaning Get DLL driver s version The format is 1 0 0 1 Comments 6 4 1 2 8 CFG DevFwVersion Data Type char R W R PropertylD 208 Meaning Get the firm version the format is 1 0 0 1 Comments PCI 1285 1285E User Manual 180 6 4 1 2 9 CFG DevCPLDVersion Data Type char R W R PropertylD 218 Meaning Get the CPLD version of device the format is 1 0 0 1 Comments 6 4 1 2 10 CFG DevEmgLogic Data Type U32 R W RW PropertylD 220 Meaning Set the active logic for emergency stop signal Comments Bits Description 0 Low active 1 High active 6 4 2 DAO 6 4 2 1 Feature 6 4 2 1 1 FT DagDiMaxChan Data Type U32 R W R PropertylD 50 Meaning Get maximum number of DI channels Comments 6 4 2 1 2 FT DagDoMaxChan Data Type U32 R W R PropertylD 51 181 PCI 1285 1285E User Manual Meaning Get maximum number of DO channels Comments
177. ns 91 6 3 1 Commot API aey iadu YSG GYR yH GO GAS AIT CYD GOG a aeaa 91 6 3 2 Device ObjeCl eu imieu i dei iad a Natsit nastaan aa 94 6 33 DAQ Gu anta musat Yny a nd YY MALI Y HE CYF and ieee 109 ys Y a CLER RY FRYN FY FYRFYFYR FRY YY 113 6 3 5 LEL FFR FFF FFF Dr papastatuyar FD FR FFF YF HF FYND HAN FYN 149 Property LiStm sutssmsusms n uy ien naa GEUYN yd od ynn FD dastiadest ees manta 176 6 41 DGVICOnii GR GYG eddu ded Ca ddad ehe n nd dd end dda 176 64 2 DAO en iiaia ia aa ad ddyd nwn Can a Ydd lates 181 643 PKS e ao e theme EDD AGENCY dig NC ndd 184 6 4 4 Group iai Go edn Y ven ded aY ye DU CR Yny Ca 223 Error oo iis HE a a amakv aAST Talar rkEEN ETEEN 227 Software Function Comparison Table 235 Software Function Comparison Table uusssss nananana 236 Specifications cii 2 IT FF NR EI RE tee ava NF TEN FAP RE NT OHK EKUN S TAINA NN HRN PR 238 B 1 UU a P F FYNY veden E AFF FFY YFANFNF 238 B 1 DOSGCMIPIOTI2a6aaiasaa ddw Y tn Hansin a gNGd Tan ddd dd 238 Digit llnPUtsmmsuisssmoksuste v EYFEFYREHFEFFRF ERA FFYN 238 B 2 UL HE Taman HYD HEAR NN HNN EN FNFR 238 B 2 DOSGFIPIION iesin yui ta veden v testaama venus ana 238 High Speed Digital Input euoossosssse sn aan LLAI AA nana an aan ananeen 238 B 3 UC LEN EAE asettaan a vakestar etikka 238 B 3 DOSGMIPIIO sauces eiii cise liste edyn dn nfed dad 238 Digital OUTPUT niuer Y bydi syd rinwed kami teaa ua saa aaea anae dyd laan 238 B 4 UERCH T NET
178. nual 222 i AbsSwitch EN EL LmtSwitch EL Home Cross Distance Home Cross Distance 6 4 3 3 2 2 PAR AxHomeExSwitchMode Data Type U32 R W RW PropertylD 407 Meaning Setting the stopping condition of Acm AxHomeEx Value Define Description 0 LevelOn When sensor is ON Active 1 LevelOff When sensor is OFF Non active 2 Rising When OFF to ON transition in sensor Edge 3 Falling When ON to OFF transition in sensor Edge 6 4 4 Group 6 4 4 1 Config 6 4 4 1 1 System 6 4 4 1 1 1 CFG GpAxislnGroup Data Type U32 R W R PropertylD 806 Meaning Get information about which axis is are in this group Bits Description 0 0 axis 1 1 axis 2 2 axes 3 3 axes 223 PCI 1285 1285E User Manual 4 axes 5 axes 6 axes N O on A 7 axes Comments 6 4 4 1 2 Path 6 4 4 1 2 1 CFG GpBldTime Data Type U32 R W RW PropertylD 808 Meaning Set get blengding time when add a path into system path buffer Comments It should be 0 65535 and multiple of 2 Unit ms See about Acm GpAddPath PCI 1285E not support 6 4 4 1 2 2 CFG GpSFEnable Data Type U32 R W RW PropertylD 809 Meaning Enable Disable speed forward function Value Description 0 Disabled 1 Enabled Comments It can not support S profile speed curve In this mode the speed parameter of Acm AddPath is useless just speed s
179. o import through Load Path 3 Movement mode Absolute or Relative If you select Absolute then com mands listed in the Cmd column will be the commands related to absolute motion Similarly if you choose Relative then commands listed in the Cmd column will be the commands related to relative motion 4 Path edit items include command Cmd Mode Blending No Blending move ment velocity vel high initial velocity vel low center Center and end End Point Wherein there are two axes Center0 Center1 in circle interpolation by default the number of EndPoint is according to the maximum number of axis supported in the selected device interpolation such as in PCI 1285 the maxi mum number of axis supported is 2 in Direct interpolation motion so the end point will be EndPoint0 EndPoint1 PCl 1285 1285E User Manual 40 5 _ Add lnsert New Row s after clicking the following dialog will be shown you can edit the number of rows to be added inserted ES Add Row Number DER Rows to add l L x Cancle Click OK corresponding number of rows will be added after or inserted into the selected row 6 Delete Selected Row s delete the selected rows 7 Clear All Rows clear all lines 5 4 4 4 2 Load Path Click Load Path if group s state is Ready you can import selected Path file bin format from the Open File dialog box to the Device 5 4 4 4 3 Move Path After loading Path if the ed
180. o move 11 MO TRIG AX8 START Trigger when axis 8 starts to move 12 MO TRIG AX9 START Trigger when axis 9 starts to move 13 MO TRIG AX10 START Trigger when axis 10 starts to move 14 MO TRIG AX11 START Trigger when axis 11 starts to move So far in PCI 1245 1245V 1245E only 0 6 trigger methods are supported In PCI 1265 only 0 8 trigger modes are supported Moreover trigger by DI is reserved ChanType The source of data acguisition the available values of which are 0 Cmd Position Command Position 1 Act Position Actual Position 2 Lag Position Lag Position which means the difference between Command Position and Actual Position 3 Cmd Velocity reserved Command Velocity Count Count of acquired data the range of which is 0 2000 The max value is 2000 by default in Utility CurCount Acguired data count will be returned after motion data is acguired Status Display current acguisition status 0 Ready Data acguisition function is not started yet 1 Wait Trigger Data acguisition function is started but waits for trigger 2 Started Motion data is being acguired O 0 N O 01 O N After the mouse moves away from the edit box the setting values will take effect You can check current configurations of each channel in DataGridView which is shown as below Motion DAQ Config Status ChannelID Period AxisNo Method is_0 Mi MQ TRIG DISABLE iz O Y HO TRIG DISABLE is_O M BQ TRIG DISABLE Ax Ax
181. ode and Non Blending Mode CFG GpSFEnable should be disabled in Non Blending mode There will be three mode according to the setting of MoveMode and CFG GpBldTime they are BufferMode BlendingMode FlyMode 1 BufferMode When the MoveMode is Non Blending At this mode each path has the whole process of accelerating and decelerating In this mode the Speed Foward function can not be supported so CFG_GpSFEnable should be disabled A MoveMode Non blending FIL F12 113 0 FH3 gt FH2 gt FH1 BufferMode Velocity path path2 path3 Time 2 BlendingMode When MoveMode is Blending and the value of CFG_GpBldTime is greater than zero These mode doses not support S profile acceleration When speed forward function is enabled by CFG_SFEnable the parameter FL and FH is useless because all of soeed parameters used in path motion are of group speed setting all of path have the same driving speed For example CFG SFEnable Disable BlendingTime gt 0 The speed curves are as follows PCI 1285 1285E User Manual 166 CFG SFEnable disable F11 F12 f13 0 FH3 gt FH2 gt FH1 BlendingMode Velocity CFG SFEnable disable FL3 gt FL2 FL1 gt 0 FH3 FH2 FH1 BlendingMode Velocity The path is as follow BlengdingT Ime Path2 li FlyMode When MoveMode is Blending and the value of CFG GpBldTime is 0 When speed forward function is enabled by CFG_SFEnable the parameter FL and FH is usel
182. olation motion will directly use the set position parameters Relative the interpolation motion will add initial offset to the position parameters and then use it 39 PCI 1285 1285E User Manual 5 4 4 4 5 4 4 3 2 Arc Direction CW means clockwise CCW means counter clockwise 5 4 4 3 3 Interpolation Mode Line linear interpolation Arc circular interpolation Helix helical interpolation 5 4 4 3 4 Move After corresponding configuration click Move Group will do the specified interpola tion 5 4 4 3 5 Stop While Group is in interpolation motion click Stop the interpolation motion will be stopped Path Motion Path Motion Edit Path Load Path Move Sel Path 5 4 4 4 1 Edit Path Click Edit Path the following form will be shown up 0 Enable Blea W 2000 O Enable Ben 4 9000 0 Enable Blea M 0000 Bow Row s Balete Selected Rev a Wherein the top toolbox includes Open File Save File and movement mode 1 Open File 5 Open selected Path file from appropriate file path which can be a binary file bin or a comma separated value file CSV 2 Save File m save the edited data to a Path file which can be a binary file bin or a comma separated value file CSV CSV files can be opened in Excel so can be checked modified conveniently later But if you want to run the Path through Load Path you need to save the data as bin format because cur rently device only supports bin file t
183. ollowing axis Parameters Name Type In Out Description DeviceHandle HAND IN Device handle This handle is device handle from Acm DevOpen CamTablelD U32 IN Identifier of CAM table PCI 1245 and PCI 1265 reserves 2 sets of cam table So the ID can be 0 1 pMasterArray PF64 IN Master position array of CAM table points pSlaveArray PF64 IN Slave position array of CAM table points pPointRangeArray PF64 IN Point range of CAM table point pPointSlopeArray PF64 IN Point slope of CAM table point ArrayElements U32 IN Element count in the pMasterArray pSlaveArray pPointRangeArray pPointSlopeArray array The Max Element count is 128 Return Value Error Code Comments Camming is characterized by dynamic ratio between the leading and following axis and by the phase shift The transmission ratio is described by a CamTable Camming is done with one table two dimensional describing master and slave positions together The table should be strictly monotonic rising or falling going both reverse and forward with the master PCI 1285 1285E do not support this API The meaning of the parameters is as follow As top figure Range is the needed pulse number when master axis rotates 360 101 PCI 1285 1285E User Manual The black points in figure are composed of master values eg X1 X2 in MasterAr ray and corresponding slave values in SlaveArray and the red po
184. on and Actual Position 3 Command Velocity Comments 177 PCI 1285 1285E User Manual 6 4 1 1 5 FT DevMDAOTrigMap Data Type U32 R W R PropertylD 7 Meaning The methods to trigger MotionDAQ function Bits Description 0 Disable MotionDAQ function 1 Software command trigger mode i e Start command is issued to trigger 2 DI trigger 3 Specify axis motion to start i e trigger MotionDAQ function Comments 6 4 1 1 6 FT_DevMDAQMaxChan Data Type U32 R W R PropertylD 8 Meaning Record max channel count of MotionDAQ data Comments In PCI 1285 1285E the max channel count is 0 6 4 1 1 7 FT_DevMDAQMaxBufCount Data Type U32 R W R PropertylD 9 Meaning The max data count of MotionDAQ that each MotionDAQ channal can record Comments In PCI 1285 1285E the value is 0 6 4 1 1 8 FT DevOverflowCntr Data Type U32 R W R PCI 1285 1285E User Manual 178 PropertylD 3 Meaning The maximum data count of position counter Comments For PCI 1285 1285E the maximum data count is 2147483647 6 4 1 2 Configuration 6 4 1 2 1 CFG DevBoardlD Data Type U32 R W R PropertylD 201 Meaning Get Device ID For PCI 1285 1285E this property value will be 0 15 Comments 6 4 1 2 2 CFG DevBaseAddress Data Type U32 R W R PropertylD 203 Meaning Return IO base address Comments 6 4 1 2 3 CFG Devlnterrupt Data Type U32 R W R PropertylD 204 Mea
185. our product is diagnosed as defective obtain an RMA return merchandize authorization number from your dealer This allows us to process your return more quickly 4 Carefully pack the defective product a fully completed Repair and Replacement Order Card and a photocopy proof of purchase date such as your sales receipt in a shippable container A product returned without proof of the purchase date is not eligible for warranty service 5 Write the RMA number visibly on the outside of the package and ship it prepaid to your dealer Technical Support and Assistance 1 _ Visit the Advantech web site at www Advantech com support where you can find the latest information about the product 2 Contact your distributor sales representative or Advantech s customer service center for technical support if you need additional assistance Have the follow ing information ready before you call Product name and serial number Description of your peripheral attachments Description of your software operating system version application software etc A complete description of the problem The exact wording of any error messages Packing List Before setting up the system check that the items listed below are included and in good condition If any item does not accord with the table Contact your dealer imme diately m PCI 1285 1285E m Companion CD ROM DLL driver included m Startup Manual Safety Precaution Stati
186. ource axis Vibration Reverse Sets the vibration suppressing timing for Time source axis This function is used to suppress vibration of mechanical system by outputting single pulse for negative direction and then single pulse for positive direction right after completion of command movement Vibration Forward Sets the vibration suppressing timing for Time source axis Note In the utility if no corresponding functions of the selected device the item will not shown in the left side Tree View For example if the selected device is PCI 1245 1265 and this board does not support slow down SD and vibration suppression function then you will not see the items in the Tree View At the same time because single axis dialog has speed parameter setting the speed pattern item will not be shown 35 When Pulse Out category is selected there will be illustration of corresponding mode below the description of Pulse Out Mode prop erty PCI 1285 1285E User Manual 5 3 4 4 5 3 5 After editing the property value will become effective already set in device after the mouse leaves the edit box If you want to duplicate the attributes to other axes only activate the Check on the right side of check box Then click Copy Config Click Close to close the form Axis Status Click the button you can view the assigned axis information For example PhylD PPU and basic status Motion Status State Error Status and etc
187. pose Get the list of available device numbers and names of devices of which driver has been loaded successfully Parameters Name Type In or Out Description DeviceList DEVLIST OUT Pointer to returned available device info list MaxEntries U32 IN The max devices count to get OutEntries PU32 OUT The count of available device Return Value Error Code Comments The structure of DEVLIST is typedef struct tagPT_DEVLIST i DWORD CHAR SHORT DEVLIST LPDEVLIST DeviceNum DeviceNum DeviceName 50 NumOfSubDevices Device Number needed for Acm_DevOpen DeviceName Device name For example PCI 1285 1285E NumOfSubDevices Just for AMONET device It is zero in PCI 1285 1285E 91 PCI 1285 1285E User Manual 6 3 1 2 6 3 1 3 Acm GetErrorMessage Format BOOL Acm GetErrorMessage U32 ErrorCode LPTSTR IpszError U32 nMaxError Purpose Get the error message according to error code returned from API Parameters Name Type In or Out Description ErrorCode U32 IN The returned error code of API lpszError LPTSTR OUT The pointer to the string of error message nMaxError U32 IN The max length of string to receive error message Return Value Nonzero if the function is successful otherwise O if no error message text is available Comments Acm GetErrorMessage will not copy more than nMaxError 1 characters to the buffer a
188. r Manual 2 1 3 1 4 Installation Guide Before you install the card make sure you have the following necessary compo nents PCI 1285 1285E card User manual Driver and software Utility PCL 101100SB wiring cable between PCI board and terminal board ADAM 3956 terminal boards Any PCL 10153MJ3 PCL 10153YS5 PCL 10153PA5 PCL 10153PA5LS PCL 10153DA2 cable between terminal board and servo drive Supports Mitsubishi J3 Yaskawa Sigma V Panasonic A4 A5 MINAS A and Delta A2 m _ ndustrial grade PC with PCI bus slot Accessories Advantech offers a complete set of accessory products These accessories include Wiring Cables to Wiring Board m PCL 101100SB PCL 101100SB is a 100 pin shielded cable To achieve a bet ter signal guality the signal wires are twisted in such away as to form a twisted pair cable reducing cross talk and noise from other signal sources Wiring Board m ADAM 3956 ADAM 3956 is specially designed for servo drive connection in a convenient way The wiring board features 4 axis design For instance if you use PCI 1285 1285E board two wiring boards are necessary for 8 axis control The fast to connect transfer cables are available for Panasonic A4 A5 MINAS Yaskawa Sigma V Mitsubishi J3 and Delta A2 servo Transfer Cables to Servo m PCL 10153PA5 PCL 10153PA5 is a 50 pin cable connecting ADAM 3956 to Panasonic A4 and A5 servo m PCL 10153PA5LS PCL 10153PA5LS is a 50 pin cable connecting ADAM 3956 to
189. r to get the value of property according to PropertylD If the Buffer is too small the return value will be error code InvalidInputParam In this case driver will return the actual size of the property in BufferLength About the detail information of PerpertylD see about Property List Acm SetProperty Format U32 Acm SetProperty HAND Handle U32 ProperylD PVOID Buffer U32 BufferLength Purpose Set the property configuration property or parameter property value through assigned PropertylD Parameters Name Type In or Out Description Handle HAND IN Object handle This handle may be device handle from Acm DevOpen or axis handle from Acm AxOpen or group handle from Acm_GpAddAxis ProperylD U32 IN Property ID to set Buffer PVOID OUT Data buffer for property BufferLength U32 IN Buffer size for the property Return Value Error Code 97 PCI 1285 1285E User Manual Comments For some properties driver may package the value with some adjustment for precision consideration So some properties output value may be different from the input value Eg PAR AxJerk Not all of properties in Property List can be set new property value only the writable properties can be reset property value User should pay attention on data type and data length property needed If the value of BufferLength is smaller than actual data size error code InvalidlnputParamter will be returned About t
190. rate stopped Its do the restore command continue not been completed before the pause Pause and resume feature supports almost all the action of the Group including linear interpolation circular interpolation helical interpolation and continuous interpolation function Command group to pause when the group is moving then group will decelerate to stop after receiving this command Group will resume the action not completed before pause command Pause and Resume can support almost all function of Group including linear interpolation arc interpolation helix interpolation and continuous interpolation Pause and Resume have some influence on velocity curve and can be classified below take T curve as an example 1 _ lf command pause in single interpolation movement the velocity curve is Velocity Resume Hardware will calculate if the rest of pulses can support to accelerate to original velocity If not the velocity curve is shown as below 173 PCI 1285 1285E User Manual Velocity Pause Pause 2 There are different situation for continuous interpolation in different mode m Buffer Mode Non Blending CFG SFEnable disable Blending Disabled Velocity ym yn dyn sim ana gwyn se Pause Pause In BufferMode each segment has its own accelerated and decelerated period The current segment will decelerate to stop after receiving Pause command Hardware will calculate velocity the rest of pulses can s
191. rchitecture amp con cept 4 1 Introduction of Common Motion Architecture In order to unify user interfaces of all Advantech motion devices new software archi tecture is designed for all Advantech motion devices which is called Common Motion Architecture This architecture defines all user interfaces and all motion functions that are implemented including single axis and multiple axes This unified program ming platform enables users to operate devices in the same manner There are three layers in this architecture Device Driver Layer Integrated Layer and Application Layer Users do not need to know how to operate the specific driver of a specify device but only to know the Common Motion Driver Even though the device which supports this architecture has changed the application does not need to be modified Advantech Common Motion ACM Architecture defines three types of operation objects Device Axis and Group Each type has its own methods properties and states To start single axis motion you have to follow the following steps Open device gt open one axis of this device gt configure instance of this axis gt start motion All operations can be done by calling corresponding ACM APIs General calling flows of Device Axis Group are specified by Common Motion Architecture For detailed information refer to the Calling Flow section Motion Examples Centralized Control PCl 1285 1285E User Manual
192. reater than max accelerator of device And if the angle between two conjoint paths is too large the error will happen too so user should pay attention to angle between paths The for mula of calculating max angle deviation is as follow For example Setting Module Range CFG AxModuleRange 3600 pulse Max Acceleration CFG AxMaxAcc 1077 Max angle of slope transformation 1097 X 10 6 X 3609 3600 1 PCI 1285E does not support this API 6 3 4 14 2 Acm AxGantryln Format U32 Acm AxGantryln HAND AxisHandle HAND MasAxisHandle 116 RefMasterSrc 116 Direction Purpose Command two axes to move e gantry motion Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen MasAxisHandle HAND IN Axis handle from Acm_GpAddAxis RefMasterSrc 116 IN The reference source 0 Command position 1 Actual position reserved Direction 116 IN The direction with master axis 0 same 1 opposite Return Value Error Code 147 PCI 1285 1285E User Manual Comments The slave axis will move synchronously with mater axis The relationship of master and slave can be terminated by calling the Acm AxStopDec Acm AxSstopEmg the axis will return SteadBy status There are some restrictions about gantry 1 Cannot set any command except Acm AxStopDec Acm AxStopEmg to slave axis 2 Slave axis can not be add in any group 3 Ifthe axis is already one axis in group it
193. rection again and moves At last motion is stopped when EZ signal occurring MODE12_ AbsSearchRefind Search ORG Refind ORG Move Dir gt Search ORG gt Stop gt Move Dir gt Leave ORG FL gt Stop gt Move Dir gt Refind ORG FL gt Stop Firstly axis moves in the way of MODE7_AbsSearch and then moves uniformly in opposite direction at VelLow until ORG signal disappears Then axis reverses the direction again and continues to move uniformly at VelLow until ORG singal occurs For example Dir Positive ORG Logic Active High Limit Logic Active High AbsSearchReFind EL ORG EL STATUS1 OFF On OFF On OFF On OFF EL ORG ELK OFF On OFF On OFF sTaTus2 OFEI On EL ORG f OFF On OFF On OFF On OFF STATUS3 AbsSearch process has three situations For detailed information see about descriptions in MODE7_AbsSearch 133 PCI 1285 1285E User Manual 13 MODE13 LmtSearchRefind Search EL Refind EL Move Dir gt Search EL gt Stop gt Move Dir gt Leave EL FL gt Stop gt Move Dir gt Refind EL FL gt Stop Firstly axis moves in the way of MODE8_LmtSearch and then moves uniformly in opposite direction at VelLow until EL signal disappears Thent axis reverses the direction again and continues to move uniformly at VelLow until EL singal occurs For example Dir Positive Limit Logic Active High LmtSearchReFind EL EL STATUS1 _OFF On OFF OFF jOn OFF s
194. reserves direction and moves the ORG signal disappears then reverses direction again and continues to move the ORG signal occurs again reverses direction and moves At last motion is stopped when EZ signal occurring m STATUSS If there is no ORG signal occurring EL signal happens before ORG signal the object reverses direction when EL signal happens and continues to move and then the ORG signal from happening to disappearing Reverses direction again continues to move the ORG signal will happen again then reverses direction At last motion is stopped when EZ signal occurring 11 MODE11 LmtSearch Ref Search EL NegEZ Move Dir gt Search EL gt Stop gt Move Dir gt touch EZ gt Stop Firstly object moves in the way of MODE8 LmtSearch and then moves in opposite direction until EZ signal occurring For example Dir Positive Limit logic Active High PCI 1285 1285E User Manual 132 12 LmtSearch NegEZ EL EZ EL STATUS1 PF OFF lon OFF lon lore EL N EZ EL N OFF On OFF On OFF statusz 9EH On STATUS1 When object is not in field of limit signal Firstly the object will move until EL signal occurring then reverse direction and continue to move until EZ signal occurring STATUS2 When object is in the field of limit signal Firstly the object reserves direction and moves the EL signal disappears then reverses direction again and continues to move the EL signal occurs again reverses di
195. returned error code by Acm GetErrorMessage According to error message user can make modification properly About Event Event is the process of sending and handling message between objects User can enable disable event If the event is enabled the waiting event will get a notification when the event is triggered in driver if the condition which event needs has been met And if it is disabled user will not get the notification even though the event is trig gered in driver There are seven types of event Event Name Description EVT AX MOTION DONE Trigger event when current motion is done EVT AX COMPARED Trigger event when compare condition is meeted Not support in PCI 1285 1285E EVT AX VH START Trigger event when motion velocity reaches High Speed EVT AX VH END Trigger event when motion slows down EVT GPn MOTION DONE Trigger event when group motion is done n is group id Get from PAR GpGrouplD by Acm_DevGeiPropety EVT GPn VH START Trigger event when group motion velocity reaches High Speed n is group id EVT GPn VH END Trigger event when group motion slows down n is group id See about Acm EnableMotionEvent Acm CheckMotionEvent About Using Common Motion API in Win7 1 Acm GetAvailableDevs has to read information from the registry in order to get the information of all boards that are installed in the computer This operation reguires Administrator rights Therefore if the
196. rtylD 320 Meaning Get the home features supported by this motion axis Bits Description 0 Home mode 1 ORG logic 2 EZ logic 3 Reset Enable 4 31 Not defined Comments 6 4 3 1 11 2 FT_AxHomeModeMap Data Type U32 R W R PropertylD 332 Meaning The supported Home return modes Bits Description 0 MP MODE1 Abs 1 MP MODE2 Lmt 2 MP MODE3 Ref 3 MP MODE4 Abs Ref 4 MP MODE5 Abs NegRef 5 MP MODE6 mt Ref 6 MP MODE7 AbsSearch 7 MP MODE8 LmtSearch 8 MP MODE9 AbsSearch Ref 9 MP MODE10 AbsSearch NegRef 10 MP MODE11 LmtSearch Ref 11 MP MODE12 AbsSearchReFind 12 MP MODE13 LmtSearchReFind 13 MP MODE14 AbsSearchReFind Ref 14 MP MODE15 AbsSearchReFind NegRef 15 MP MODE16 LmtSearchReFind Ref Comments About detailed information about each mode see about Acm AxHome 191 PCI 1285 1285E User Manual 6 4 3 1 12 Backlash 6 4 3 1 12 1 FT AxBackLashMap Data Type U32 R W R PropertylD 321 Meaning Get the backlash feature supported by this motion axis Bits Description 0 Enabled 1 Value 2 31 Not defined Comments 6 4 3 1 13 Compare 6 4 3 1 13 1 FT_AxCompareMap Data Type U32 R W R PropertylD 324 Meaning Get axis supported compare features Bits Description 0 Enabled 1 Logic 2 CmpSrc 3 CmpMethod 4 CmpPulseMode 5 CmpPulseWidth 6 31 Not defined Co
197. rtylD 705 Meaning Set the type of velocity profile t curve or s curve Value Description 0 T curve Default 1 S curve Comments If PAR GpJerk is set to 1 the PAR GpAcc doesn t mean acceleration but max acceleration and PAR_GpDec doesn t means deceleration but max deceleration The default value is the first added axis jerk 6 4 4 2 2 System 6 4 4 2 2 1 PAR GpGrouplD Data Type U32 R W R PropertylD 706 Meaning Get the GrouplD through GroupHandle Comments In PCI 1285 1285E there are only four GrouplD to use They are 0 1 2 and 3 You cannot handle more than four groups at the same time you must close one group to create new group if there are already three groups You must close one group to create new group if there are already two groups 6 4 4 2 3 Path 6 4 4 2 3 1 PAR GpRefPlane Data Type U32 R W RW PropertylD 709 PCI 1285 1285E User Manual 226 Meaning Set get reference plane for helix motion and arc interpolation Value Description 0 XY PLANE 1 YZ PLANE 2 XZ PLANE Comments See about Acm GpMoveHelixAbs Acm GpMoveHelixRel Acm GpMoveHelixAbs 3p and Acm GpMoveHelixRel 3p 6 5 ErrorCode Error Code Error 0x00000000 SUCCESS 0x80000000 InvalidDevNumber 0x80000001 DevRegDataLost 0x80000002 LoadDIIFailed 0x80000003 GetProcAddrFailed 0x80000004 M
198. s Cam DO CamDO Enable Enables Disables CAM DO function for source axis CamDO Logic Sets the active logic for CAM DO signal CamDO Compare Sets the compare source for CAM DO signal Source CamDO Mode Sets the mode for CAM DO signal CamDO Direction Sets the direction for CAM DO CamDO Low Limit Sets the low limit for CAM DO signal CamDO High Limit Sets the high limit for CAM DO signal Comparator Compare Enable Enables Disables axis comparator for source axis Compare Source Sets the source for comparator Compare Method Sets the method for comparator Compare Pulse Mode Sets the pulse mode for comparator Compare Pulse Logic Sets the active logic for comparator s pulse Compare Pulse Width Sets the pulse width for comparator ERC Erc Logic Sets the active logic for ERC signal Erc On Time Sets the on time length for ERC active Erc Off Time Sets the off time length for ERC active Erc Enable Mode Enables Disables ERC Output for source axis 33 PCI 1285 1285E User Manual External Drive Ext Master Src Indicates that axis is controlled by which physical axis s external signal Ext Sel Enable When Ext drive is enabled this property enables driving axis selection by digital input channel Ext Pulse Num The number of output driving pulses when an active edge of input pulse is accept in Hand Wheel mode
199. s currently hided click the button to show it and the text on the button will change to Hide Tree 5 2 3 Device Tree EM PCI 1245 MT EM PCI 1285E M14 Click any device of tree view you will see the operation interface 27 PCI 1285 1285E User Manual 5 3 Single Axis Motion i Multi Axis Notion Synchronized Motion G Code Operate Axis FCI 1265E 14 Axis e SVON Device Nunber 0x2b00 8000 Motion Params Set Confi guration Distance 10000 PFU 22Hone Mode External Drive Sate VelLow 2000 PRS is Sewe _ 2mm Staten a VelHigh 8000 PPU S w a a Move Test LAT m kei 10000 PFU S mm ORG a Dec 10000 PFU S s same DIR a Hex Pox PFU tu Shov current Input Output statr HT rays Position iar peer command Reset Error Speed Pattern E i asst toe FI m GG Traperi S eurve Feedback 0 Rezet Counter d Motion Node Current Axis Status a O Ftor O Continue Homing Bani States Ready a Speed Chart Command Velocity 0 Sia 4 II O Status ja EE WOODr IN2FDY INMLIC C T SONAE OUTIEVON OUTS CMP OUTHCAMDO Oo a e 00 09 0 O O O oc a Lact Error Siaiur Error Code 0 Error Message Success 5 3 1 Operate Axis Select the operating axis Click the check box drop down symbol all axes of the selected device will display as follows PCI 1285E M14 O Axis v PCI 1285E PCI 1285E M14 1 Axis PCI 1285E M14 2 Axis PCI 1285E M14 3 Axis PCI 1285E M14 4 Axis PCI 1285E M14 S
200. s written Firstly the object will move until ORG signal occur ring then continue to move in opposite direction until EZ signal occurring STATUS2 If the object is in the field of ORG signal the home command is writ ten the object begins to move Firstly the ORG signal disappears and then next ORG signal occurs at the same time reverses motion direction At last motion is stopped when EZ signal occurring STATUS3 If the object is in the field of EZ signal the home command is written the object begins to move Firstly the EZ signal disappears and then ORG sig nal occurs at the same time reverses motion direction At last motion stops when EZ signal occurring Note Home will stop in case EL signal occurs MODE6 mt Ref EL NegEZ Move Dir gt touch EL gt Stop gt Move Dir gt touch EZ gt Stop The object moves until limit signal occurring firstly and then continues to move in opposite direction until EZ signal is occurred For Example Dir Positive EZ Logic Active Logic Limit Logic Active High 129 PCI 1285 1285E User Manual Lmt EZ Pod Pod PEZi PE LR STATUS1 o on OFF on OFF OFF STATUS Oni OFF On OFF 3 H c H i 4 i ez i FEL STATUS3 OFF or OFF On OFF WE _a_i i m STATUS1 If the object is out of the field of EZ signal and EL signal when home command is written Firstly the object will move until EL signal occurring then continue to move in opposite direction unti
201. same axis The default master E axis is 1st axis of selected device S Motion Params Set It s the same setting as Single axis Motion gt Motion Params Set Operation 5 5 2 3 1 SVON Click SVON the servos of the Master axis and the Slave axis will be turn on the text on it will change into SVOFF click SVOFF the servos of axes will be turn off the text on it will back to SVON 5 5 2 3 2 Other Operation Refer to Single axis Motion gt Move Test for other operation It is noteworthy that after the establishment of synchronization the Slave axis will follow the Master axis to move accordingly You can view the movement curve through Path Plot 5 5 2 3 3 Position Show the current command theoretical position and the feedback actual position of the Master axis and the Slave axis Click Reset Counter to set the value to 0 State You can view the current state of the Master axis and the Slave axis through the sta tus bar For detail refer to the description about State in Acm AxGetState function which is listed in Common API of Programming guide PCl 1285 1285E User Manual 50 5 6 5 7 5 8 Digital Input Mainly shows the status of device s digital input port In PCI 1265 there are 8 Dis ME I Single dzis Motion GF Mfulti Axis Motion GH Synchronized Hotion EL Digital Input EA Digital Output FA Analog Input Pertio Bit 43 0 Mex e e 0000 As the above f
202. se Return Value Error Code Comments There must be 3 axes in group Command helix motion by assigning three points The orders of valus in parameter RefArray CenterArray and EndArray must follow the order of 161 PCI 1285 1285E User Manual axis PhysicallD The unit of distance in RefArray and EndArray is PPU of each axis in group User can chose two axes in group to move arc interpolation by PAR GpRefPlane For example Group Y Z U RefArray Y Z U CenterArray Y Z U EndArray Y Z U PAR GpRefPlane 1 YZ Plane Z axis and U axis will move arc interpolation and Y value in EndArray is the height of helix PCI 1285E does not support this API 6 3 5 4 13 Acm GpMoveHelixRel 3P Format U32 Acm GpMoveHelixRel 3P HAND GroupHandle PF64 RefArray PF64 EndArray PU32 pArrayElements 116 Direction Purpose Command group to move relative spiral by three specified points Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm_GpAddAxis RefArray PF64 IN Relative distance of reference point EndArray PF64 IN Relative distance of end point pArrayElements PU32 IN OUT Element count in the array This count must equal to the axis count in this group or else it will be returned axis count in group Direction 116 IN Direction 0 DIR_CW clockwise 1 DIR_CCW counterclockwise Return Value Error Code Comments S
203. t in the array This count must equal to the axis count in this group or else it will be returned axis count in group Return Value Error Code Comments The sequence of data in PositionArray must follow the order of X axis Y axis Z axis U axis and so on For example if one group has two axes Y axis and U axis The first data in PositionArray means Y axis absolute position and the second data means U axis absolute position The unit of distance in PositionArray is PPU of each axis in group The difference between line interpolation and direct interpolation line interpolation s speed is divided into even line speed for every axis axis PCI 1285 1285E User Manual 156 moves at this even line speed Mostly line interpolation is applied to the axis assembled as right angle But direct interpolation s line speed is set into master axis The smallest Physical ID axis and other axes in group start stop as the same time as master axis Mostly direct interpolation is applied to the axis assembled as obligue angle At most it just supports 8 axes direct interpolation in PCI 1285 2 axes in PCI 1285E 6 3 5 4 8 Acm GpMoveDirectRel Format U32 Acm GpMoveDirectRel HAND GroupHandle PF64 DistanceArray PU32 ArrayElements Purpose Command group to execute relative direct line interpolation Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm GpAddAxis DistanceArray
204. tPathStatus Path data in buffer will be loaded to hardware execution registers seguentially after calling Acm GpMovePath 165 PCI 1285 1285E User Manual The absolute commands and relative commands can not be mixed in system path buffer except EndPath and GPDELAY or else the error will be returned The ArrayElements parameter which is element count in EndPoint DataArray parameter and CenPoint DataArray can not be less than axis count in group All of paths needed axis count according to motion command is not greater than axis count of group can be loaded in same system buffer eg axis count in group is 4 then the paths with Rel2DLine Rel3DLine 4DDirect and so on can be loaded into device If the axis count in group is greater than needed axis count in path the foregoing axis in group will be chosen to move Especially for Abs2DArcCW Abs2DArcCCW Rel2DArcCW and Rel2DArcCCW user can chose two axes in three foregoing axes in group by Par GpRefPlane to move At the last the EndPath command must be add in path buffer At most there are 10000 paths in group User can enable disable speed forward function by CFG GpSFEnable and set blending time by CFG GpBldTime before calling Acm GpAddPath GPDELAY Delay command The group will delay some time to move next path User can set time by FH The path with this command cannot be added when speed forward function is enabled by CFG GpSFEnable The unit of delay time is ms MoveMode Blending M
205. tart Simultaneous Starting when axis 5 is stopped 22 Start Simultaneous Starting when axis 6 is stopped 195 PCI 1285 1285E User Manual 23 Start Simultaneous Starting when axis 7 is stopped 24 31 Not defined Comments Get axis supported simultaneous starting mode See about CFG AxSimStartSource In PCI 1285 the default value 16776961 In PCI 1285E the default value 0 6 4 3 1 19 Trigger Stop 6 4 3 1 19 1 FT AxIN1Map Data Type U32 R W R PropertylD 333 Meaning IN1 trigger stop function property Comments Bits Description 0 Enable Disable stop function 1 Stop logic high stop or low stop 2 Stop mode decelerating sudden stop 6 4 3 1 19 2 FT_AxIN2Map Data Type U32 R W R PropertylD 334 Meaning IN2 trigger stop function property Comments Bits Description 0 Enable Disable stop function 1 Stop logic high stop or low stop 2 Stop mode decelerating sudden stop 6 4 3 1 19 3 FT AxIN4Map Data Type U32 R W R PropertylD 336 PCI 1285 1285E User Manual 196 6 4 3 2 Meaning IN4 trigger stop function property Comments Bits Description 0 Enable Disable stop function 1 Stop logic high stop or low stop 2 Stop mode decelerating sudden stop 6 4 3 1 19 4 FT AxIN5Map Data Type U32 R W R PropertylD 337 Meaning IN5 trigger stop function property Comments Bits Descr
206. tes how to control an interpolation group s helix motion Demonstrates how to use electronic cam ECAN A y y N E CAM function E Gear JIN N N 4 Demonstrates how to use electronic gear E Gear function Tangent JIN 4 N oo how to use tangent follow unction Gantry VOIN y y V Demonstrates how to use gantry function Device DIO JIN N N N Demonstrates device digital input output function Device Al Demonstrates device analog input function PCI 1285 1285E User Manual 64 6 2 4 PCI 1285 1285E Support API List Type Method Event 5 a Description Acm DevOpen N v _ Open device Acm DevClose N V _ Close device Acm_DevLoadConfig N v Load configuration file Acm_GetProperty y Get property Acm_SetProperty y V Set property Acm_GetLastError N V Get last error Acm_CheckMotionEvent y y role er are Acm_EnableMotionEvent N V Enable disable event Device Method Acm DevDownloadCAMTable y Load data in CamTable Acm_DevConfigCAMTable N V Configure Cam Acm DevLoadCAMTableFile X X Load CamTable file Acm DevMDagConfig X X Set MDag related configurations Acm DevMDagGetConfig X X Get MDagrelated configurations Acm DevMDagStart X X Start MDag function Acm DevMDagStop X X _ Stop MDag function Acm DevMDagReset X X Get MDag related data Acm DevMDagGetStatus X X _ Get current MDag status Acm DevMDagGetData X X Get recorded MDag data 65 PCI 1285
207. th ULONG CmpEnable ULONG CmpPulseMode ULONG LatchLogic ULONG LatchEnable ULONG GenDoEnable ULONG ExtMasterSrc ULONG ExtSelEnable ULONG ExtPulseNum ULONG ExtPulselnMode ULONG ExtPresetNum ULONG CamDoEnable ULONG CamDOLoLimit ULONG CamDOHiLimit ULONG CamDoCmpSrc ULONG CamDoLogic ULONG ModuleRange ULONG SimStartSource MOT_AX_CONFIG PMOT_AX_CONFIG typedef struct MOT DAO CONFIG ULONG AiChanType ULONG AiRanges MOT DAO CONFIG PMOT DAO CONFIG typedef struct MOT DEV CONFIG MOT DAO CONFIG DagConfig MOT Ax CONFIG Axis Cfg Axis Numj MOT DEV CONFIG PMOT DEV CONFIG Axis Num is 8 for PCI 1285 1285E PCI 1285 1285E User Manual 96 6 3 2 4 6 3 2 5 Acm GetProperty Format U32 Acm GetProperty HAND Handle U32 ProperylD PVOID Buffer PU32 BufferLength Purpose Get the property feature property configuration property or parameter property value through assigned PropertylD Parameter Name Type In or Out Description Handle HAND IN Object handle This handle may be device handle from Acm DevOpen or axis han dle from Acm AxOpen or group handle from Acm GpAddAxis ProperylD U32 IN Property ID to guery Buffer PVOID OUT Data buffer for property BufferLength PU32 IN OUT IN buffer size for the property OUT returned data required length Return Value Error Code Comments User should pay attention on the data type and BufferLength of Buffe
208. the Master axis according to CAM curve in cam motion 2 Master Movement Mode a Absolute If you select this mode the current position of the Master axis will be served by CAM curve as the starting point of horizontal coordinate b Relative If you select this mode the Master axis will serve the current Command Actual Position as a starting point to move in relative mode 3 Slave Movement Mode a Absolute If you choose this mode the Slave axis will chase after the Y_Pos value in CAM Table with set speed from the current Command Actual Position b Relative If you choose this mode the Slave axis will move in relative mode with the cur rent Command Actual Position according to CAM curve 4 Master Offset offset value relative to the Master axis 5 Slave Offset offset value relative to Slave axis 6 Master Scaling Master axis ratio factor CAM Curve zoom in out in the horizon tal direction 7 Slave Scaling Slave axis ratio factor CAM Curve zoom in out in the vertical direction 8 Reference Source Master axis s position reference source a Command Position reference source is command position b Feedback Position reference source is feedback actual position 5 5 1 4 4 CAM In Click CAM In the Slave axis will establish CAM synchronization with the Master axis and the Slave s state will change into Synchronous Driving Thereafter if the master axis is in P to P or Continue motion the slave axis will follo
209. the programming or if you want to compile the program you can click Build gt Build Solution MBuild Test Advantech Motion VB in the menu bar as follows Build L Debug Data Tools Window Community EE Build Solution F6 Rebuild Solution Clean Solution 5 Build Test Advantech Motion VB ShifttF6 Rebuild Test Advantech Motion VB Clean Test Advantech Motion VB Publish Test Advantech Motion VB Configuration Manager 89 PCI 1285 1285E User Manual You can directly click in the toolbar the program will run if there is no error If you want to debug the program you can set breakpoint at corresponding line of code by clicking or pressing F9 as follows Imports Advantech Motion 2 Public Class Porm Private Sub Button Click ByVal sender As System Object ByVal e As System EventArgs Handles Click Dim i As Integer End Sub 9 End Class Click Debug gt Start Debugging to debug when run to the breakpoint you can press F11 or F10 to step into over as follows Debug Data Format Tools Window Commu Windows P Start Debugging FS D Start Without Debugging Ctrlt FS E Attach to Process Exceptions Ctrl D E GE Step Into Fil Step Over F10 New Breakpoint gt PCI 1285 1285E User Manual 90 6 3 6 3 1 6 3 1 1 Function List Common API Acm GetAvailableDevs Format U32 Acm GetAvailableDevs DEVLIST DeviceList U32 MaxEntries PU32 OutEntries Pur
210. the second data means U axis center distance The unit of distance in CenterArray and EndArray is PPU of each axis in group At most it just supports 2 axes arc interpolation in PCI 1285 PCI 1285E does not support this API 6 3 5 4 4 Acm GpMoveCircularAbs Format U32 Acm GpMoveCircularAbs HAND GroupHandle PF64 CenterArray PF64 EndArray PU32 pArrayElements 116 Direction Purpose Command group to execute absolute ARC interpolation Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm GpAddAxis CenterArray PF64 IN Absolute distance of center point EndArray PF64 IN Absolute distance of end point pArrayElements PU32 IN OUT Element count in the array This count must egual to the axis count in this group or else it will be returned axis count in group Direction 116 IN Direction 0 DIR CW clockwise 1 DIR CCW counterclockwise PCI 1285 1285E User Manual 154 Return Value Error Code Comments The seguence of data in CenterArray and EndArray must follow the order of X axis Y axis Z axis U axis For example if one group has Y axis and U axis the first data in CenterArray means Y axis center position and the second data means U axis center position The unit of distance in CenterArray and EndArray is PPU of each axis in group At most it just supports 2 axes arc interpolation in PCI 1285 PCI 1285E does not support this API 6 3 5 4 5 Acm GpMo
211. tion compare and triggering with any 3rd party machine vision solution All Advantech motion controllers are applied to Common Motion API architecture which is an unified user programming interface Programmer can benefit from inte grating any Advantech SoftMotion controller without changing the application code in large scale This architecture can save the effort of application maintenance and upgrade Features PCI 1285 1285E are featured by the following points The features are listed but var ied by product model name m Encoder input is 10 MHz for 4xAB mode 2 5 MHz for CW CCW mode m Pulse output up to 5 Mpps m Memory buffer 10 K points for trajectory planning which is designed in DSP m Supports E Gear and helical interpolation m Supports E CAM providing 256 points to describe the CAM profiles which buf fers located in DSP m Hardware emergency input m Watchdog timer m Position latch via ORG amp index signal m Position compare triggering up to 100 KHz and memory buffer is up to 100 K points in DSP m Programmable interrupt m Supports gantry mode by semi closed loop pulse train control m RDY LTC dedicated input channels amp SVON CMP CAM DO ERC dedicated output channels are switchable for general input and output purposes Applications m Precise X Y Z position control m Precise rotation control m Semi conductor packaging assembly equipment and high speed pick and place testing machine PCI 1285 1285E Use
212. to over as follows Debug Data Format Tools Window Coaau Windows D Start Debugging FS D Start Without Debugging CtrltF5 k Attach to Process Exceptions Ctrl D E GE Step Into F11 UE Step Over F10 New Breakpoint gt 6 2 6 4 Creating a New VB net Application To use PCI 1285 1285E Series DSP Based SoftMotion PCI Controller ADVMOT dll and relevant driver files are needed Be sure to install the driver before development Create a Visual Basic project as follows 1 Createanew project Select Microsoft Visual Studio 2005 from the Microsoft Visual Studio 2005 in Start Menu as follows PCI 1285 1285E User Manual 86 o Microsoft SOL Server 2005 gt Microsoft Visual Studio 6 0 Visual ydi fan Visual Studio Remote Tools T Microsoft Web Publishing gt Visual Studio Tools e PM Designer gt y 1s n SourceGear Vault gt pile LT p had komen 1 o riad bok Kamin a o AA To create a new project Select File gt New gt Project of Main menu as follows File Edit View VAssistX Tools Window Community Help En Project Ctrlt Shift N Open gt 9 ted Site Close TH Bite Ctrl N Project From Existing Code In the new form Select Other Languages gt Visual Basic select Windows Appli cation template Configure the Name Location and Solution Name Same as Name by default then click OK Hew Project PE Project types Templates
213. traveling function 3 3V User Interface VEX LMT Figure 3 6 Circuit Diagram for Limit Input Signals 13 PCI 1285 1285E User Manual 3 5 Position Latch LTC It is a general purpose input pin which is used to latch the simultaneous position information Users can read the position counter by programming For detailed infor mation refer to chapter 6 3 6 Servo Ready Signal RDY It is a general purpose digital input which is used to check the servo ready status from servo drive connection For example you can check the status before any com mand is issued Users can also use this RDY as general purpose input for other usages 3 7 Home Position ORG Home position is to define the original position or home signal for each axis refer to chapter 6 for programming settting 3 8 ln Position Singal INP The In Position range or deviation is usually defined by servo drive When the motor moves and converges within this range or deviation the servo driver will send the signal out to indicate that the motor is in the defined position 3 9 Servo Error amp Alarm ALM This input is from servo drive which will generate the alarm signal to indicate any operation error 3 10 Encoder Input ECA ECB ECZ When the feedback encoder signals arrive connect ECA ECA to phase A of encoder output It is a differential pair The same rule is for ECB and ECZ The default setting of PCI 1285 1285E is quadra
214. ture input 4xAB phase The following diagram shows the interface circuit for one channel 3 3V User Interface VEX EMG Figure 3 7 Circuit Diagram of Encoder Feedback In the circuit diagram above PCI 1285 1285E use high speed photo coupler for isola tion The source s encoder output can be differential mode or open collector mode And the maximum acceptable 4xAB phase feedback freguency is about 10 MHz PCI 1285 1285E User Manual 14 3 11 Emergency Stop Input EMG When emergency stop input signal is enabled the output of the drive pulse for all axes will be stopped 3 3V User Interface VEX EMG ND o Figure 3 8 Circuit Diagram of Emergency Stop Input Signal This signal should be used in combination with external power DC 12 24 V The response time of circuitry should take about 0 25 msec because of the delay of photo coupled and RC filter 3 12 External Power Input VEX External power is necessary for all input signals of each axis Apply DC 12 24 V voltage as reguired Note Please don t direct connect VEX to inductive load 3 13 Position Window Output CAM DO As the following figure shows users can define the interval and level to generate a digital output with a defined duration Active Inactive Position Lower Upper Switching Switching Point Point Active Inactive Position Lower Upper Switching Switching Point Point Figure 3 9 Circuit Diagram of Position W
215. uld be 20000 However the real status is as below Speed curve after changing velocity Velocity VS Time Velocity VS Time Original speed curve Path I Path2 Change Velocity If the velocity changing command is sent in Blending phase then the ChangeV func tion will be delayed to next path m FlyMode Blending Enable Blending Time 0 The volocity path in this mode is similar to that in Blending mode while the velocity between two paths will not decelerate to FL For details please refer to Acm GpAddPath If the ChangeV function is run in motion status then the velocity of path of the current phase will accelerate decelerate to new velocity and thus the velocity of each phase will increase decrease proportionally If the remaining pulse is 159 PCl 1285 1285E User Manual not enough when the velocity of each phase is being changed then the new velocity will be automatically calculated PCI 1285E does not support this API Note The ChangeV function is not supported by deceleration phase 6 3 5 4 10 Acm GpMoveHelixAbs Format U32 Acm GpMoveHelixAbs HAND GroupHandle PF64 CenterArray PF64 EndArray PU32 pArrayElements 116 Direction Purpose Command group to move absolute spiral Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm_GpAddAxis CenterArray PF64 IN Absolute distance of center point EndArray PF64 IN Absolute distance of end point pArrayElements PU32 I
216. uously until the limit signal occurring For Example Dir Positive Limit Logic CFG AxElLogic Active High Lmt EL EL STATUS1 OFF n ol OFF G a gt e i l El STATUS2 OFF On OFF On JOFF STATUS1 If the object is out of the field of EL signal when home command is written the object will move until EL signal occurring STATUS2 If the object is in the field of EL signal there will be no response MODE3 Ref Move Dir gt touch EZ gt Stop Only according to EZ to home The object moves continuously until the EZ sig nal occurring For Example Dir Positive EZ Logic CFG AxEzLogic Active High 127 PCI 1285 1285E User Manual EZ e EZ EZ status OFF On OFF OFF On OFF EZ EZ STATUS2 OFF on OFF em m STATUS1 If the object is out of the field of EZ signal when home command is written the object will move until EZ signal occurring m STATUS2 If the object is in the field of ORG signal the object will move until next EZ signal occurring 4 MODE4 Abs Ref ORG EZ Move Dir gt touch ORG gt Stop gt Move Dir gt touch EZ gt Stop This is a composed home mode Firstly the object moves until origin signal occurring and then continues to move in same direction with ORG until EZ sig nal occurring For Example Dir Positive ORG logic Active Logic EZ Logic Active Logic Abs ORG EZ ORG iei STATUS1 ore on OFF on OFF N ORG ORG 7 EZ STATUS
217. upport to proceed the rest path m BlendingMode Blending Enable BlendingTime gt 0 In Blending Mode there are two situations the velocity curve is different from FL 0 and FL gt 0 in Acm GpAddPath Please refer to the detail in Acm GpAddPath Pause and resume function will be explained by taking Disable speed forward func tion FL 0 as an example below PCI 1285 1285E User Manual 174 CFG SFEnable disable FIL F12 113 0 FH2 gt FH3 gt FH1 Blending Enabled Blending Time gt 0 Velocity Pause Resume BlendingMode In Blending Mode Pause command will execute after Blending finished if Pause command is issued in the Blending segment m FlyMode Blending Enable BlendingTime O Velocity CFG SFEnable disable FIL F12 113 1000 FH2 gt FH3 gt FH1 Blending Enabled Blending Time 0 Pause Resume 6 3 5 6 2 Acm GpResumeMotion FlyMode Format U32 Acm GpResumeMotion HAND GroupHandle Purpose Resume movement after pause Parameters Name Type In or Out Description GroupHandle HAND IN Axis handle from Acm GpAddAxis 175 PCI 1285 1285E User Manual 6 4 6 4 1 6 4 1 1 Return Value Error Code Comments Please refer to the detail in Acm GpPauseMotion Property List Device Feature 6 4 1 1 1 FT DevlpoTypeMap Data Type U32 R W R PropertylD 0 Meaning Get device supported interpolation types 1 support 0 Not support
218. urther information on driver related issues an online version of the Device Driv ers Manual is available by accessing the following path Start Advantech Automation Motion Board Name The example source codes could be found under the corresponding instal lation folder such as the default installation path Program Files Advantech Motion Board Name Examples Hardware Installation Note Make sure you have installed the driver first before you install the card refer to w 2 2 Driver Installation After the DLL driver installation is completed you can now go on to install the PCI 1285 1285E card in any PCI slot on your computer But it is suggested that you should refer to the computer s user manual or related documentations if you have any doubt Follow the steps below to install the card on your system 1 Turn off your computer and remove any accessories connected to the computer Warning CUT OFF power supply of your computer whenever you install or remove any card or connect and disconnect cables 2 Disconnect the power cord and any other cables from the back of the computer Remove the cover of the computer 4 Select an empty 3 3 5 V PCI slot Remove the screws that secures the expansion slot cover to the system unit Save the screws to secure the retaining bracket of interface card 5 Carefully grasp the upper edge of the PCI 1285 1285E Align the hole in the retaining bracket with the hole on the expansion slot a
219. validAxCntlnGp 0x80000031 AxlnGpNotFound 0x80000032 AxislnOtherGp 0x80000033 AxCannotlntoGp 0x80000034 GplnDevNotFound 0x80000035 InvalidGpCfgVel 0x80000036 InvalidGpCfgAcc 0x80000037 InvalidGpCfgDec 0x80000038 InvalidGpCfgJerk 0x80000039 InvalidGpParVelLow 0x8000003a InvalidGpParVelHigh 0x8000003b InvalidGpParAcc 0x8000003c InvalidGpParDec 0x8000003d InvalidGpParJerk 0x8000003e JerkNotSupport 0x8000003f ThreeAxNotSupport 0x80000040 DevlpoNotFinished 0x80000041 InvalidGpState 0x80000042 OpenFileFailed 0x80000043 InvalidPathCnt 0x80000044 InvalidPathHandle 0x80000045 InvalidPath 0x80000046 loctlError 0x80000047 AmnetRingUsed 0x80000048 DeviceNotOpened 0x80000049 InvalidRing 0x8000004a InvalidSlavelP 0x8000004b InvalidParameter PCI 1285 1285E User Manual 228 0x8000004c InvalidGpCenterPosition 0x8000004d InvalidGpEndPosition 0x8000004e InvalidAddress 0x8000004f DeviceDisconnect 0x80000050 DataOutBufExceeded 0x80000051 SlaveDeviceNotMatch 0x80000052 SlaveDeviceError 0x80000053 SlaveDeviceUnknow 0x80000054 FunctionNotSupport 0x80000055 InvalidPhysicalAxis 0x80000056 InvalidVelocity 0x80000057 InvalidAxPulselnLogic 0x80000058 InvalidAxPulselnSource 0x80000059 InvalidAxErcLogic 0x8000005a InvalidAxErcOnTime 0x8000005b InvalidAxErcOffTime 0x8000005c InvalidAxErcEnableMode 0x8000005d Invalid
220. veCircularRel 3P Format U32 Acm GpMoveCircularRel 3P HAND GroupHandle PF64 RefArray PF64 EndArray PU32 pArrayElements 116 Direction Purpose Command group to execute relative ARC interpolation by three specified points Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm GpAddAxis RefArray PF64 IN Relative distance of reference point EndArray PF64 IN Relative distance of end point pArrayElements PU32 IN OUT Element count in the array This count must egual to the axis count in this group or else it will be returned axis count in group Direction 116 IN Direction 0 DIR CW clockwise 1 DIR CCW counterclockwise Return Value Error Code Comments The seguence of data in RefArray and EndArray must follow the order of X axis Y axis Z axis U axis and so on For example if one group has Y axis and U axis the first data in RefArray means Y axis reference distance and the second data means U axis reference distance The unit of distance in RefArray and EndArray is PPU of each axis in group At most it just supports 2 axes arc interpolation in PCI 1285 PCI 1285E does not support this API 6 3 5 4 6 Acm GpMoveCircularAbs 3P Format U32 Acm GpMoveCircularAbs 3P HAND GroupHandle PF64 RefArray PF64 EndArray PU32 pArrayElements 116 Direction Purpose Command group to execute absolute ARC interpolation by three specified points 155 PCI 1285
221. w the Master axis to Move with the CAM Curve and the configuration accordingly 5 5 1 4 5 Stop Click Stop to dissolve the synchronization relation The slave axis s state will be ready PCI 1285 1285E User Manual 48 5 5 1 5 Gear Motion Select Gear in Synchronized Mode you can configure and operate the gear move ment Gear Motion Configuration Numerator 1 Denominator 1 Reference Source Movement Mode Command Pos O Feedback Pos O Absolute 6 Relative 5 5 1 5 1 Configuration Before the establishment of gear synchronization you need to configure the following parameters 1 Numerator The numerator of gear ratio 2 Denominator The denominator of gear ratio 3 Reference Source The Master axis s position reference source a Command Position reference source is command position b Feedback Position reference source is feedback position 4 Movement Mode a Absolute If you select this mode the Slave axis will chase after the Command Actual Position of the Master axis with set speed b Relative If you select the mode the Slave axis will keep initial position difference with the Master axis 5 5 1 5 2 Gear In Click Gear In the Slave axis will establish Gear synchronization with the Master axis and the Slave s state will change into Synchronous Driving Thereafter if mas ter axis is in P to P or Continue motion the slave axis will follow master axis to move with the configuration accordingly 5 5 1 5 3
222. x freguency 2 5MHz x1 x2 x4 A B phase only Type Two terminal opto isolated L max 1Vdc Input voltage H min 3 5Vdc H max 10Vdc Protection 2 500V Isolation Min width for Hi Lo pulse 200ns B 6 Pulse Output Item Description Max freguency 5Mpps Type Two terminal opto isolated L max 0 7Vdc Output voltage H min 2Vdc H max 3 9Vdc Output current 3Vdc 18mA Output signal mode Differential line driving output Protection 2 500V Isolation Control range 32bit B 7 General Item Description Connector HDRA Mini SCSI 200 x 1 Dimensions 175mm x 100mm Certifications CE FCC Class A l Typical 3 3V 160mA 5V 530mA Power consumption Max 3 3V 400mA 5V 650mA Operating 0 60 C refer to IEC 60068 2 1 2 Temperature Storage 20 85 C Relative Humidity 5 95 RH non condensing refer to IEC 60068 2 3 External Power Voltage DC 12 24 V 239 PCI 1285 1285E User Manual
223. ype U32 R W RW PropertylD 604 Meaning Set or get compare method Value Description 0 gt Position Counter 1 lt Position Counter 2 Counter Directionless Not support Comments In PCI 1285 the default value is 0 PCI 1285E does not support this API 6 4 3 2 12 3 CFG_AxCmpPulseLogic Data Type U32 R W RW PropertylD 606 Meaning Set get the active logical of compare signal Value Description 0 Low active 1 High active 209 PCI 1285 1285E User Manual Comments In PCI 1285 the default value is 0 PCI 1285E does not support this API 6 4 3 2 12 4 CFG AxCmpPulseWidth Data Type U32 R W RW PropertylD 607 Meaning Get set the width of compare signal delay Value Description 5 us 10 us 20 us 50 us 100 us 200 us 500 us N OD oy AION oO 1000 us Comments In PCI 1285 the default value is 0 PCI 1285E does not support this property 6 4 3 2 12 5 CFG_AxCmpEnable Data Type U32 R W RW PropertylD 608 Meaning Enable disable axis compare function Value Description 0 Disabled 1 Enabled Comments In PCI 1285 the default value is 0 PCI 1285E does not support this property 6 4 3 2 12 6 CFG_AxCmpPulseMode Data Type U32 R W RW PCI 1285 1285E User Manual 210 PropertylD 605 Meaning Set get axis compare mode Value Description 0 Pulse mode
224. zation for backward compatibility then delete the reguestedExecutionLeuel node lt reguestedExecutionLevel leuel asInuoker ui ccess false gt regue IPrivileg 6 2 Getting Started 6 2 1 PCI 1285 1285E Software architecture The PCI 1285 1285E software architecture based on Common Motion Architecture is as follows Example Other 7 Application ADVMOT ADVMOT bas lib ADVMOT dll Utility Il a AdvMotAPI dll k 4 PC11285 dll Figure 6 1 PCI 1285 1285E Software Architecture All of API used to implement device functions can be acguired from ADVMOT DLL which is a common interface for user The AdvMotAPI dll ADVMOT bas and ADV MOT Iib are created upon ADVMOT dIl for user developing application easily AdvMo tAPI dll is used for C application and VB net application which includes Utility C examples and VB net example ADVMOT bas is used to develop VB application ADVMOT Iib is used to develop VC application 57 PCI 1285 1285E User Manual 6 2 2 Flow Charts 6 2 2 1 Basic Flow Device Disable Ready Figure 6 2 Basic Operation Flow Chart PCI 1285 1285E User Manual 58 6 2 2 2 Single Axis Flow Single Axis Motion Operation nem Reset lo Optional t Configuration Optional C _ i Velocity Move Change Position Speed On the fly only Velocity Figure 6 3 Single Axis Operation Flow Chart 99 PCl 1285 1285E User Manual 6 2 2 3 Multipl

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