EWHA provider User's guide - Carafa Christian Engineering
Contents
1. 2 4 Error code the chapter of the error code of ORiN2 Programming guide ORIN conference DENSO WAVE Inc EWHA provider user s guide 12 3 Sample program Following code shows the way of acquiring Return to origin state and execution of Return to origin of EWHA List3 1 Sample frm Dim eng As CaoEngine Dim ctr As CaoControl ler Dim val As CaoVariable Private Sub Form_Load generation of CAO engine Set eng New CaoEngine connection to EWHA Set ctr eng Workspaces 0 AddControl ler Sample CaoProv KOGANE I EWHA Conn com 1 generation of variable of Return to origin Set val ctrl AddVariable ORG End Sub Private Sub Command1_Cl ick setting of value val Text Text End Sub Private Sub Command2_Cl ick acquisition of value Text2 Text val End Sub ORIN conference DENSO WAVE Inc2. EWHA provider user s guide l EWHA provider KOGANEI servo hand Version 1 0 1 User s guide July 17 2012 Remarks ORIN conference DENSO WAVE Inc EWHA provider user s guide 2 Revision history Version Date Content 1 0 0 0 2006 02 24 First edition 1 0 0 1 2010 02 11 Error code was added 1 0 1 2012 07 17 Document versioning rules was changed SE Hardware ORIN conference DENSO WAVE Inc EWHA provider user s guide 3 Contents Blatt e elteren DEE 4 2 TE aere EE 5 aen PEROU DE stead seca to geegent eegene eege E A A 5 22 Method and i Property TTT 6 2 2 1 CaoWorkspace AddController method 6 2 2 2 CaoController AddVariable method 7 2 2 3 CaoController AddCommand meibod AAA 7 2 2 4 CaoController EXecute method 8 2 2 5 CaoController Cancel method nk ENEE 8 2 2 6 CaoController get_CommandNames property ecccceeeeseeeeeeeeeneeeeeeeneeeeeeeneeeeeeseaeeeees 8 2 2 7 CaoController get_VariableNaMes property AA 8 2 2 8 CaoCommand EXxecute meibod eee eeeecee eee eeeeecneeeeeenneeeeeeaeeeeeeeaeeeeeeeeaeeeeeneaeeeeeeaeeeee 8 2 2 9 CaoCommanad put_Parameter proper 9 2 2 10 CaoCommand get_Parameter Droperty 9 2 2 11 CaoCommand get_Result property occ eseeeeeeeseneeeeeeeeeeeeeeeeeeeeeeeeneaeeeeesaeeeessaeeeees 9 2 2 12 CaoVariable put_ID property ss ssssssssssrrnssrerrnerrrnnsstrnnnsttrnnntrntnnartntattrananentaacne
3. Y is restored 2 2 14 CaoVariable put_Value property Write system command of EHWA is executed Please refer to Table2 5 for the variable name that can be used The correspondence table of the command of the variable name and EWHA is shown as follows Table2 3 The correspondence table of the variable name at put_Value and EWHA command name Command of EWHA Remarks Execute Return to Origin by the ORG command when VT_EMPTY is specified ORIN conference DENSO WAVE Inc EWHA provider user s guide 10 2 2 15 CaoVariable get_Value property Read system command of EHWA is executed Please refer to Table2 5 for the variable name that can be used Table2 4Variable name at get_Value and correspondence table of EWHA command name Command of EWHA_ Remarks SRVO POS PNO S P Specify the acquired point number in the ID property ORG VER READ DIO ORIN conference DENSO WAVE Inc EWHA provider user s guide 11 2 3 Variable list 2 3 1 Controller class Table2 5Controller class user variable list Attribute Variable name Data type Explanation wo Fo kees LI Current location acquisition Get Point number Put Point number movement Point information State of Return of origin Version information State of I O In the EWHA provider there is no peculiar error code About the ORiN2 commonness error Please refer to
4. _I4 Speed MOVH MOVH Executes coordinate specified VT_R4 Coordinates gripping operation position VT_I4 Speed VT_I4 Power ORIN conference DENSO WAVE Inc EWHA provider user s guide 8 P X Movement by specified S distance M X Movement by specified z distance INC IXINC Movement at constant speed g DEC DC Movement at constant speed SRVO SRVO Energizes motor VT H g Energizing 1 de energizing 0 2 2 4 CaoController Execute method Sends the character string specified for the parameter as it is When the execution result is OK READY the character string that will be received before OK READY comes is returned as a string array When the execution result is NG STOP the character string received next to NG STOP is returned as a string array In this method RAW is specified in the command name of the first argument and specify the command of EWHA for the parameter of the second argument At this time please specify the parameter by the character string type Execute Raw Command name Fixed lt parameter gt Character string of EWHA command 2 2 5 CaoController Cancel method Send the cancellation command 4C 2 2 6 CaoController get_CommandNames property Acquire the command name list Please refer to Table2 2 for the acquired command name 2 2 7 CaoController get_VariableNames property Acquire the variable nam
5. dIl Deregistration regsvr32 u CaoProvEWHA dll ORIN conference DENSO WAVE Inc EWHA provider user s guide 6 2 2 Method and property 2 2 1 GaoWorkspace AddController method EWHA provider refers to the connection parameter for communication and connects the communication at the time of AddController method Option specifies a communication form and a terminator setting at that time AddControl ler lt controller name gt Controller name CaoProv KOGANE EWHA Provider name Fixed lt machine name gt Execution machine name of provider lt option gt Option character string Following is a list of option string items Table 1 Option character string of CaoWorkspace AddController Option Meaning Conn lt connected parameter gt Mandatory Set the communication form and connection parameters Please refer to 2 2 1 1 for details Term lt terminator gt Specify the terminator when communicating 1 CR default 2 LF 3 CR LF TimeOut lt Time out time gt Specify time out time when communicating default 500ms 2 2 1 1 Conn parameter Following is connection parameter strings for Parameter option The object in the square bracket J is omittable The underlined part written in the explanation of each parameter shows the default value that the case of without specifying options com lt COM Port gt lt Bau
6. dRate gt lt Parity gt lt DataBits gt lt StopBits gt lt COM Port gt COM port number 1 COM1 2 COM2 lt BaudRate gt Communication speed 4800 9600 19200 38400 57600 115200 lt Parity gt Parity N NONE E EVEN O ODD ORIN conference DENSO WAVE Inc EWHA provider user s guide 7 lt DataBits gt Number of data bits 7 7bit 8 8bit lt StopBits gt Number of stop bits 1 1bit 2 2bit example com 1 Communication port COM1 38400bps None 1 8bits 2bit example com 2 9600 Communication port COM2 and 9600bps None 2 8bits 2bit example com 3 38400 N 8 2 Communication port COM3 38400bps and None 3 8bits and 2bit 2 2 2 CaoController AddVariable method Generate a variable object that acquisition sets information of EWHA Only the variable of Table2 3 and Table2 4 can be used for the variable name 2 2 3 CaoController AddCommand method Generate CaoCommand that sends a command to EWHA Following table shows the list of the command name AddCommand lt command name gt Command name lt option gt Option character string Table2 2Command name table Command Command of EWHA Meaning Parameter Result name ORG ORG Return to origin a MOVP MOVP Moves to the specified point NI H Point number MOND MOND Executes coordinate specified VT_R4 Coordinates movement position VT
7. e list Please refer to Table2 5 for the acquired variable name 2 2 8 CaoCommand Execute method Generate a command from the command name and the character string set in 2 2 9 and send For instance when the Execute method of command name ORG is executed returns to origin ORIN conference DENSO WAVE Inc EWHA provider user s guide 9 2 2 9 CaoCommand put_Parameter property Set the parameter at the time of command transmission Please refer to Table2 2 for the parameter of each command If there are more than one parameters these parameter must be stored each element in the VARIANT array or be specified in the comma delimited character strings An illegal parameter is not checked in this property The check on the parameter is judged by the execution result of the command 2 2 10 CaoCommand get_Parameter property The parameter set in 2 2 9 is acquired When the parameter is not set VT_EMPTY is returned 2 2 11 CaoCommand get_Result property The latest execution result of 2 2 8 is acquired The acquired content returns the data division of the response from EWHA by the character string 2 2 12 CaoVariable put_ID property The point number is specified This property is used when the variable name is only P Information on the specified point number can be acquired by setting this property 2 2 13 CaoVariable get_ID property The value set in 2 2 12 is acquired When the parameter is not set VT_EMPT
8. nnnnteennnnee 9 2 2 13 CaoVariable get_ID property uk 9 2 2 14 CaoVariable put_Value property eee ee ceeeeeeeenneeeeeenneeeeeeneeeeeeseaeeeeeeeeaeeeenneaeeeeeeaeeeeey 9 2 2 15 CaoVariable get_Value property ek 10 2 3 Variable lists ies d rege T ai e aaa a cans a ea a a e a aa a EE 11 2 3 1 Controller EE 11 2A EMrOr COUGS EE 11 3 SamMpleprogra DEE 12 ORIN conference DENSO WAVE Inc EWHA provider user s guide 4 1 Introduction This book is a user s guide of the EWHA provider that is the CAO provider for servo hand EWHA manufactured by KOGANEI The EWHA provider sends and receives the command by RS 232C for the servo hand ORIN conference DENSO WAVE Inc EWHA provider user s guide 5 2 Outline of provider 2 1 Outline The EWHA provider executes each command with CaoController Execute CaoCommand Execute CaoVariable putValue and CaoVariable get Value In CaoController Execute the character string of the command is sent as it is as a command In CaoCommand Execute the command corresponding to the command name is executed In CaoVariable putValue or CaoVariable getValue the value is set acquired by the command that corresponding to the variable name The file format of the EWHA provider is DLL Dynamic Link Library and the table 2 1 lists details Table2 1EWHA provider File name CaoProvEWHA dll ProgID CaoProv KOGANEI EWHA Registry registration regsvr32 CaoProvEWHA
Download Pdf Manuals
Related Search