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User Manual - Koco Motion GmbH

1. Sn 52 FAS_S r VOENAD M 53 FAS ServoAlarmReset csscsssscssssessssssesessssssssesecsesssssassesessenssssasseseseesesssausesesesassesecessesseateeaess 55 cR 4 MINI edem UM 56 FAS dig M 57 FAS_Get EUST RRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRMEEMMMMMMMMMMMEMMEMEMEEKENFFIKWWWIWWIWWIMNMIM 59 ASSET OOU EDU e rettet TUI emestu de TE EE 60 FAS_Get OQUt DUT EM 61 FAS Get IOAss i gnMap 0 eececeecesescsceeesecesescseseesesesececsenesacscsesecaesesaseceesecseneacecaeesasaseeeesseseeataeeees 62 FAS Set OASS i gnMap seesssssseeeenenenenennn emen nennen trennen rre enn 64 FAS l0AssignMapReadROM essen nnne 65 2 7 Position Control FUNCION oiu RURXD IRR NENNEN NON NUKIRNUMUDUINMGEUE 66 FAS SetConimandP oS ito erstatten deerit neni nep ecte te Ere sese cedet a reset nain 67 gie HI 69 FAS GetCommandPOos cecesssesesescsseeeseseeseecseseeseseeececsenesaesesesecaeseasacsececseneeaeecaeecaeaeeecesaeneeataeeees 70 ENMC ID nlt MM 72 FAS Get POSE GOT usc eter teo un e eh RT UM EE RERO crea 73 FAS_GEtACtUal MM 74 FAS_ClearPOSit o cceecsssssesescssseesescesescscscesescsececsesesaeacsesecaesaacacsesecaseeaeecaeesasacececaeseeataceess 75 2 8 Drive Status Control FUNCION ssccsncancesstasressscaencessteanccanscannenstuatereserenee DARII DI UND 76 FAS Get OAXISSER TUS ies aeee Leche repere s Ree eee ERE Ee RE Sorti gU E
2. FAS_ To request the pause start and pause end of motor motioning MovePause Sending 1 byte 1 byte 0 pause release 1 pause start Response 1 byte 1 byte 0x38 Communication status 88 FAS_ To read PT values in the RAM of the drive PosTab eRead tem Sending 2 bytes 2 bytes n Readable PT number 0 255 96 Response 65 bytes 1 byte 64 bytes Communication status Relevant PT values For items by each PT refer to 1 2 6 Position Table Item FAS To save PT values to the RAM of the drive PosTableWr i tel tem Sending 66 bytes 2 bytes 64 bytes 0x61 PT number 0 255 Relevant PT value 97 For items by each PT refer to 1 2 6 Position Table Item Response 2 bytes 1 byte 1 byte Communication status EON per forming Status values except 0 complete 0 error FAS To read all PT values 256 ea in the ROM of the drive PosTableReadROM 0x62 Sending 0 byte 98 Response 2 bytes 1 byte 1 byte Communication status onana performing Status 0 complete values except 0 error FAS To save all PT value 256 ea to the ROM of the drive PosTab eWr i teROM 0x63 Sending 0 byte 99 Response 2 bytes 1 byte 1 byte Communication status mene per Tonming Stats 0 complete values except 0 error a 22 Communication Protocols GENE FAS PosTab leRuni tem To start the position Sending 2 bytes table operation from the de
3. FAS To request thecurrent push motion status GetPushStatus This function is worked only with Ezi SERVO PR MI and MC 28VA cylinder Sending 0 byte 0x79 Response 2 byte 121 1 byte 1 bytes Communication Push motion status status 0 normal Servo ON 1 push motioning but the work is not detected 2 work detected and torque is maintained x Frame Type 0x65 0x69 0x90 0x92 are allotted for internal use x PT Number 0 255 for Ezi SERVO PR 0 63 for Ezi SERVO PR MI 24 1 2 2 Parameter Lists Communication Protocols CEN No Name Unit Lower Limit Upper Limit Default O Pulse per Revolution 0 9 9 Axis Max Speed pps 1 500 000 500 000 2 Axis Start Speed pps 1 35 000 1 3 Axis Acc Time nsec 1 9 999 100 4 Axis Dec Time msec 1 9999 100 5 Speed Override 1 500 100 6 Jog Speed pps 1 2 500 000 5 000 7 Jog Start Speed pps 1 35 000 1 8 Jog Acc Dec Time msec 1 9 999 100 9 Servo Alarm Logic 0 1 0 10 Servo On Logic 0 1 0 11 Servo Alarm Reset Logic 0 1 0 12 S W Limit Plus Value pulse 134 217 727 134 217 727 134 217 727 13 S W Limit Minus Value pulse 134 217 727 134 217 727 134 217 727 14 S W Limit Stop Method 0 1 1 15 H W Limit Stop Method 0 1 1 16 Limit Sensor Logic 0 1 0 17 Org Speed pps 1 500 000 5 000 18 Org Searc
4. Initialize CRC wCrc Oxffff for iByte 0 iByte lt usDataLen iBytet Exclusive OR the byte with the CRC wCrc pDataBuffer iByte Loop through all 8 data bits Communication Protocols i EN for iBit 0 iBit lt 7 iBit t f the LSB is 1 shift the CRC and XOR the polynomial mask with the CRC Note the bit test is performed before the rotation so can t move the lt lt here if wCrc amp 0x0001 wCrc gt gt 1 wCrc POLYNOMIAL else Just rotate it wCrc gt gt 1 return wCrc Communication Protocols EO 1 1 4 Response Frame Structure and Communication Error Ver6 When any command is sent the basic structure of Frame at the response side is same However there isadifference in case of Frame Data which communication status is added as shown below Slave ID Frame Type Data CRC byte 0 247 bytes 2 bytes 1 byte 1 byte Communication status Response data Low byte High byte Slave ID Same to sending Frame When this is not same to sending data it should be recognized as the error status Frame type Same to sending Frame When this is not same to sending data it should be recognized as the error status 3 Data When simple executive instructi ons are sent this data cannot be read However in case of response 1 byte is added to display the commu nication status
5. See Also FAS PosTableWr i tel tem 107 Library for PC Program Ver6 108 FAS PosTableWr i tel tem To edit specific items in the position table Syntax int FAS PoslableWr i tel tem BYTE nPortNo BYTE iSlaveNo WORD wl temNo LPITEM NODE Ipltem Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive w temNo tem number to be edited oltem tem structure pointer to be edited Return Value FMM_OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port FMC POSTABLE ERROR An error occurs while position table is being written FMM INVALID PARAMETER NUM wltemNo is out of range Remarks Position Table data is saved to RAM ROM area This function acts to save data to RAM area When power is off data is deleted Example See Also FAS PosTableReadl tem 108 Library for PC Program Ver6 109 FAS_PosTab eWr i te ROM To save all current position table items to ROM area Syntax int FAS PosTableWr i teROM BYTE nPortNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been normally performed FMM_NOT_OPEN The drive has not been connected yet FMM INVA
6. To request push motion maintain specified motor torque command Syntax int FAS MovePush BYTE nPortNo BYTE iSlaveNo DWORD dwStar tSpd DWORD dwMoveSpd long IPosition WORD wAccel WORD wDecel WORD wPushRate DWORD dwPushSpd long IEndPosition WORD wPushMode Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive DWORD awStartSod start speed of position command DWORD dwlfoveSod move speed of position command long lPosition absolute target position of position command WORD wAcce Accel time of position command WORD wDecel Deceleration time of position command WORD wPushRate Torque ratio of Push motion DWORD awPushSod Moce speed of Push motion long EndPosition absolute target position of push motion MORD wPushMode Select the push mode Stop or Non stop Return Value FMM_OK Command has been normally per formed FMM NOT OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example See Also 117 Library for PC Program Ver6 118 FAS GetPushStatus 118 Library for PC Program Ver6 119 FAS GetPushStatus To request thecurrent push motion status Syntax int FAS MovePush BYTE nPortNo BYTE iSlaveNo BYTE nPushStatus Parameters nPor tNo Port number of rele
7. 0x27 Pulse start position Setting the start position of first pulse output 39 194 217 727 134 217 727 Pulse period Setting the pulse period 1 134 217 727 0 pulse output only 1 time in pulse start position pulse output repeatedly depends on setting Pulse width Setting the pulse width 1 1000 Response 2 byte 1 byte byte Communication status Command performing status 0 complete values except 0 error FAS Command to check if the trigger output pulse is working or not Tr iggerOutput Status Sending 0 byte 0x28 Response 2 byte 40 byte bytes Communication status Status 1 output ON O output OFF FAS Servo ON OFF status is set Ser voEnable Sending 1 byte 1 byte oe O 0FF 1 0N 42 Response 1 byte 1 byte Communication status 14 Communication Protocols 15000 FAS ServoAlarmReset Servo alarm status is reset Sending 0 byte 0x2B 43 Response 1 byte 1 byte Communication status FAS_ To request the Alarm type ServoAlarmtype Sending 0 byte Response 2 byte 1 byte 1 bytes Communication status Alarm type 1 Alarm type No alarm 0 OverCurrent 1 OverSpeed 2 Ox2E StepOut 3 OverLoad 4 OverTemperature 5 46 BackEMF 6 MotorConnect 7 EncoderConnect 8 MotorPower 9 Inposition 10 SystemHalt 11 ROMdevice 12 Over InputVoltage 14 Position Ove
8. 36 INQ respectively and 12 22 corresponds to COMP OUTI OUT9 respectively 1 0 pin masking data Refer to 1 2 4 Bit setup of Input Pin Level Setting O Active Low 1 Active High Response 1 byte 1 byte Communication status FAS_ Pin setting status of CN1 port is read from RAM area Get OAss i gnMap Sending 1 byte 1 byte 1 0 number e l Onumber 0 11 corresponds to Limitt Limit Org IN1 INQ respectively and 12 22 corresponds to COMP OUT1 OUTO respectively 0x25 37 Response 6 bytes 1 byte 4 bytes 1 byte Communication status IO pin masking status Level status For more information refer to 0x24 Frame type 13 Communication Protocols EUER FAS Pin setting status of CN1 port is loaded to RAM from ROM area OAss i gnMapReadROM Sending 0 byte 0x26 Response 2 bytes 38 1 byte 1 byte HEN Command performing status PONTE a Oi ste 0 complete values except 0 error FAS Start Stop command for Compare Out signal TriggerOutput RunA Sending 18 bytes byte 4 bytes 4 byte Output start stop Pulse start position Pulse per iod t start O stop pulse pulse 4 byte bytes 4 byte Pulse width Output pin number spare nsec fix to 0
9. The signal status returns by bit for each input signal To set the output signal level of the control output port Output signal is set to ON or OFF To read the current output signal status of the control output port The signal status returns by bit for each output signal To read the pin setting status of the CN1 port FAS GetlOAssignMap The setting status for each 9 variable signals returns by bit to the Input and Output port To assign the control 0 signal to CN1 port pin and also set the signal level Setting for each 9 variable signals is assigned to the Input and Output port To load the pin setting status of CN1 port from ROM area to RAM area FAS SetlOlInput FAS GetlOInput FAS SetlO0utput FAS GetlO0utput FAS SetlOAssignMap FAS lOAss i gnMapReadROM 56 Library for PC Program Ver6 57 FAS Set lOI nput To set O input For more information refer to 1 2 Structure of Frame Type Syntax int FAS Set lOInput BYTE nPortNo BYTE iSlaveNo DWORD dwlOSetMask DWORD dwlOCLRMask Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive aw 0Se task Input bitmask value to be set awlOCLRMask Input bitmask value to be cleared Return Value FMM OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected p
10. on Send Buffer window 3 Slave ID Insert your slave number above ex ample is 0 and click SlaveNo 4 Frame type Insert Frame type You can find next table information in 1 2 1 Frame Type and Data Configuration on UserManual Ezi SERVO PlusR Communication Function Frame type DLL Library name Data 42 0x2A FAS ServoEnable Setting the Servo ON OFF status Sending 1 byte byte 0 0FF 1 0N Insert 42 in areaandclick 1byte because the size of Frame Type is 1 byte 5 Data To make Servo ON status the data is 1 Insert 1 in area and click 1 byte 6 CRC Click CRC and the calculated result value 2 bytes is displayed on Send Buffer window 7 Tail click Tail and you can see OXAA OxEE on Send Buffer window 8 Finally click Send button to send command characters to Ezi SERVO Plus f You can check the motor torque and LED flash for Servo ON status 9 After sending command you can check the answering informations from Ezi SERVO Plus R on Buffer Received window 120 Protocol for PLC Program i 2 Mot ion command Protocol Test aA x Connection r Buffer Received 1 Comm Port 77 Header Siv Cmd Stat REFRESH Disconnect xAA OxCC Ox00 0x35 0x00 Baudrate 115200 X Send Buffer 0xAA 0xCC 0x00 0x35 0x10 0x27 0x00 0x00 0x88 0x1
11. FMM_OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS MoveSingleAxisAbsPos library See Also 80 Library for PC Program Ver6 81 2 9 Running Control Function Function Name Description FAS MoveStop The motor in running is decelerate and stopped FAS EmergencyStop The motor in running stops directly without deceleration FAS MoveOr iginSingleAxis The motor starts the origin return FAS MoveSingleAxisAbsPos The motor moves as much as the given absolute position value FAS MoveSingleAxisIncPos The motor moves as much as the given incremental position value FAS _MoveToLimit The motor moves up to the position that the limit sensor is detected FAS Meveelooity The motor moves to the given velocity and direction This function is available to Jog motion While the motor is running the target absolute position value FAS PositionAbsOverr ide pulse is changed While the motor is running the target incremental position FAS PositionIncOverr ide value pulse is changed FAS VeloeityOverr ide While the motor is running the running velocity value pulse is changed FAS Al IMoveStop All motors that connected in same port are decelerate and
12. Plus R Header Frame Data Tail OxAA OxCC 4 252 bytes OxAA OxEE D OxAA Delimited byte 2 OxAA OxCC Displays that the Frame locates in header 9 OxAA OxEE Displays that the Frame locates in tail f any of the Frame data is OxAA OxAA should be added right after it byte stuffing 9 If any data following OxAA is not OxAA OxCC or OxEE it displays that an error has occurred Detailed Frame Data is configured as follows Slave ID Frame type Data CRC 2 bytes 1 byte byte 0 248 bytes Low byte High byte Frame type To designate command type of relevant fr ames to lFrame Type and Data Configuration section Data Data structure and length is set according to Frame refer to Frame Type and Data Configuration section e aeg factor in CRC16 Cyclic Redundancy Check is used Or X CRC To check that an error occurs during communication Slave ID Dive module number 0 15 connected to the PC communication port For the command type refer type For more information OxA001 16 X 15 X2 1 of a polynomial ofa polynomial factor in CRC 16 IBM Cyclic Redundancy Check is used CRC calculation is performed for all items Slave ID Frame type Data prior to CRC item 1 1 3 CRC Calculation Example The following program source is included ina file file name the product 1 OxA001 of CRC16 const unsigned short T
13. Remarks The user sets the position command pulse output counter value This function is generally used when the user sets the current position to coordinates that he wants Example include FAS EziMOTIONPlusR h void funcClearPosi t ion BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 int nRtn Try to connect if FAS Connect nPortNo 115200 FALSE Connection failed Tne port is not connected or the baudrate may be wrong return Initialize Command Position and Actual Position values to 0 nRtn FAS SetCommandPos nPortNo iSlaveNo 0 _ASSERT nRtn FMM OK nRtn FAS SetActualPos nPortNo iSlaveNo 0 _ASSERT nRtn FMM_OK Disconnect FAS_Close nPor tNo See Also 67 Library for PC Program Ver6 68 FAS SetActualPos 68 Library for PC Program Ver6 69 FAS SetActualPos To set the actual position value to the motor Syntax int FAS SetActualPos BYTE nPortNo BYTE iSlaveNo long lActPos Parameters nPor tNo Port number of relevant drive iSlaveNo Slave number of relevant drive ActPos Actual position value to be set Return Value FMM_OK Command has been normally performed FMM_NOT_OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks The
14. S aveNo Slave number of relevant drive Return Value FMM_OK Command has been normally performed FMM_NOT_OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks The user sets the position command pulse output counter value This function is generally used when the user sets the current position to values Example include FAS EziMOTIONPlusR h void funcClearPosi t ion BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 int nRtn Try to connect if FAS Connect nPortNo 115200 FALSE Connection failed Tne port is not connected or the baudrate may be wrong return Initialize Command Position and Actual Position values to 0 nRtn FAS ClearPosition nPortNo iSlaveNo _ASSERT nRtn FMM OK Disconnect FAS_Close nPor tNo See Also FAS_SetActualPos a 7S initial Library for PC Program Ver6 76 2 8 Drive Status Control Function Function Name Descr ipt ion To read control 1 0 status running status Flag value FAS Get lOAxisStatus The current input status value the output setting status value and the running status Flag value will return To read the current running progress status and its PT number The command position value the actual position value the speed value will ret
15. To request the motor to start jog motion at the current setting MoveVelocity parameter condition 0x37 Sending 5 bytes 4 bytes 1 byte 55 Running speed pps Running direction 0 Jog 1 Jog Response 1 byte 1 byte Communication status FAS_ To request the motor to change the target absolute position PositionAbsOverride value pulse while it is in running 0x38 Sending 4 bytes 4 bytes 56 Changed command position value pulse Response 1 byte 1 byte Communication status 16 Communication Protocols E EE 0x39 FAS PositionlncOverride To request the motor to change the incremental value pulse while it is in running target position Sending 4 bytes 4 bytes 57 Changed command position value pulse Response 1 byte 1 byte Communication status FAS_ To request the motor to change the running speed value pps while it VelocityOverride is in running Sending 4 bytes 4 bytes TES Changed running speed pps 58 The accel decel time is assigned to Axis Acc Time and Axis Dec Time value in parameter lists Response 1 byte 1 byte Communication status FAS_ To request stop for all motor that connected in same port Al IMoveStop 0x38 Sending O byte 59 Slave number must be 99 Response no response FAS_ To request emergency stop for all motor that connected in same port Al
16. stopped All motors that connected in same port are directly stop without FAS Al Emer gencyStop deceleration gt motors that connected in same port are starts the origin FAS AI MoveOr iginSingleAxis return gt motors that connected in same port moves as much as the given FAS Al IMoveSingleAxisAbsPos in absolute position value gt motors that connected in same por t moves as much as the given FAS Al MoveSingleAxisIncPos E incremental position value More than 2 motors that connected in same port Linear FAS_MoveL i near Abs Pos Interpolation moves as much as the given absolute position value More than 2 motors that connected in same port Linear FAS MoveLinear IncPos Interpolation moves as much as the given incremental position value The motor moves as much as the given absolute position value ERS MOVES ING IRAR HSSOSIMEK with custom accel decel time value The motor moves as much as the given incremental position value Ele MOVES IG RARIS FIBHBRIEN with custom accel decel time value The motor moves to the given velocity and direction FAS MoveVelocityEx This function is available to Jog motion with custom accel decel time value The motor starts pause in runing or the motor starts again FAS MovePause In pause status 1 Library for PC Program Ver6 82 FAS MoveStop To stop the motor Syntax int FAS MoveSto
17. Also FAS GetlOInput 58 Library for PC Program Ver6 59 FAS Get lOInput To read 0 input values For more information refer to 1 2 Structure of Frame Type Syntax int FAS Get lOInput BYTE nPortNo BYTE iSlaveNo DWORD dwlOlnput Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive aw 0 nout Parameter pointer which input values will be saved Return Value FMM_OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks There are 12 input pins in EziSERVO PlusR The user can select and use 9 input pins of them This function can read the input port status by 32bit All of them are insulated by a photocoupler Refer to the figure 5V 24V R2 Input A GND 24V When Port A is supplied 24V from an external input port the input is recognized to 5V High Example Refer to FAS SetlOInput library See Also FAS SetlOInput 59 Library for PC Program Ver6 60 FAS Set 00utput To read 1 0 output values For more information refer to 1 2 Structure of Frame Type Syntax int FAS SetlOO0utput BYTE nPortNo BYTE iSlaveNo DWORD dwlOSetMask DWORD dwlOCLRMask Parameters nPor tNo Port number of relevant drive S aveNo Slave
18. NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example See Also FAS_ GetlOAss i gnMap 65 Library for PC Program Ver6 66 2 7 Position Control Function Funct ion Name Descr ipt ion FAS SetCommandPos To set the command position value FAS SetActualPos To set the current position to the actual position value FAS GetCommandPos To read the current command position value FAS GetActualPos To read the actual command position value To read the difference between the actual position value and the FAS GetPosError Hn command position value FAS GetActualVel To read the actual running speed value while the motor is moving FAS ClearPosition To set the command position and actual position value to 0 66 Library for PC Program Ver6 67 FAS SetCommandPos To set the command position value to the motor Syntax int FAS SetCommandPos BYTE nPortNo BYTE iSlaveNo long CmdPos Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive CmdaPos Commnad position value to be set Return Value FMM OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port
19. OX9B81 0X4980 OX8F81 0X8581 0X4380 OXEF41 OXE541 0X2340 OXA141 0X6740 OX6D40 OXAB41 0X7940 OXBF41 OXB541 0X7340 0X5140 0X9741 0X9D41 OX5B40 0X8941 OX4F40 0X4540 0X8841 OX2D00 0X2700 OXE101 0X6300 OXA501 OXAFO1 0X6900 OXBBO1 OX7D00 0X7700 OXB101 0X9301 0X5500 OX5F00 0X9901 OX4B00 0X8D01 0X8701 0X4100 OXEDC1 OXE7C1 OxX21C0 OXASC1 OX65C0 OX6FCO OXA9C1 0X78C0 OXBDC1 OXB7C1 OX71C0 OX53C0 OX95C1 OX9FC1 OX59C0 OX8BC1 OX4DCO OX47CO 0X81C1 OXEC81 OXE681 0X2080 OXA281 0X6480 OX6E80 OXA881 OX7A80 OXBC81 OXB681 0x7080 0x5280 0X9481 OX9E81 0X5880 OX8A81 OX4C80 0X4680 0X8081 OX2C40 0X2640 OXEO41 0X6240 OXA441 OXAE41 0X6840 OXBA41 OX7C40 0X7640 0XB041 0X9241 0X5440 OX5E40 0X9841 OX4A40 OX8C41 0X8641 0X4040 Communication Protocols ONE unsigned short CalcCRC unsigned char pDataBuffer unsigned long usDataLen unsigned char nTemp unsigned short wCRCWord OxFFFF while usDataLen nTemp wCRCWord pDataBuf fer wCRCWord gt gt 8 wCROWord TABLE CRCVALUE nTemp return wCROWor d X16 X15 X2 1 of CRC 16 18M unsigned short CalcCRCbyAlgorithm unsigned char pDataBuffer unsigned long usDataLen const unsigned short POLYNOMIAL OxA001 unsigned short wCrc int iByte iBit
20. Waiting until motioning is done do Sleep 1 nRtn FAS GetAxisStatus nPortNo iSlaveNo amp dwAxisStatus _ASSERT nRtn FMM OK stAxisStatus dwValue dwAxisStatus while stAxisStatus FFLAG MOTIONING Moving motor to position 0 AbsPos 0 IVelocity 20000 nRtn FAS MoveSingleAxisAbsPos nPortNo iSlaveNo lAbsPos IVelocity _ASSERT nRtn FMM OK Waiting until motioning is done do Sleep 1 nRtn FAS GetAxisStatus nPortNo iSlaveNo amp dwAxisStatus _ASSERT nRtn FMM_OK stAxisStatus dwValue dwAxisStatus while stAxisStatus FFLAG MOTIONING Disconnect FAS_Close nPor tNo See Also 101 Library for PC Program Ver6 102 FAS MoveSingleAxis ncPosEx To move the motor to the Incremental coordinate Syntax int FAS MoveSingleAxis IncPosEx BYTE nPortNo BYTE iSlaveNo long IncPos DWORD Velocity MOTION_OPTION_EX IpExOpt ion Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive IncPos Incremental coordinate of position to move Velocity Velocity when the motor moves pEx0ot ion Custom option Return Value FMM_OK Command has been normally performed FMM_NOT_OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example See Also 10
21. c 103 2 10 Position Table Control FUNCTION eruere rennen enne enin nnne tnn tn stets tuens tns tn statuens 105 FAS PosTabeRead tem rrt iet Ree e E RET ERE e ee ee ERES 106 FAS PosTableWritel tein eie tre ata eter peii Ee nite 108 FAS PosSTabTeWI Il teROM sicot itr E caren ERU et eaters PUR 109 FAS PosTableRSadROM oer eet ete levet reae e i ree dues 110 FAS Pos Tabi CRU IET irri ette RR ELE ee ee 111 FAS PosTableReadOnel tem esses eese erento nitore TERON TE therein 112 FAS PosTab eWr IrteOne Lem tte RE E tee ee cee 113 Communication Protocols NE P E Uno TE dde FUNCTION cssccscsessscscieasseteseoesessarsssedesesseessoescsedeseysscsevedsertesessoesceaesevsiedesesteries 114 FAST EEOger Output BUHN ssec raro rere cr terrere er rere c pereo 115 FAST rrggerQutp t Status eR ERR HEU ERU ee 116 FAS MOVO PUS E i oecxdecext sets ar saencse ceca tooces t x Kl M UU UU Due 117 F AS GetP slst ats eo ne EREUPIT IU RENEEUUREuREE EI CSI LEE 119 Protocol for PLE Nuit B RR 120 1 Communication Protocols 1 1 Communication Functions Communication Protocols 6 Ezi SERVO Plus R can control up to 16 axes by multidrop link at RS 485 two wire serial communication FS communication recovered from standby mode Pay attention that when Windows goes into standby or power save mode is basically disconnected it should be connected again with serial This is a
22. inapplicable to the protocol program mode Example Refer to FAS_Connect library See Also FAS Connect 43 Library for PC Program Ver6 44 FAS EnableLog To select the save functi on of communication error log file Syntax void FAS EnableLog BOOL bEnable Parameters bEnable Select output of Log Remarks Select the Log output during Ezi MOITON Plus R DLL function used This setup Do not effect th other process or other program Log function start from FAS Connect function the Log output is end when the FAS Close is excuted Example include FAS EziMOTIONPlusR h void funcDisableLog BYTE nPortNo 1 FAS EnableLog FALSE Try to connect if FAS Connect nPortNo 115200 FALSE i connection fail cab be different Port or different Baudrate return Connection close FAS_Close nPor tNo See Also FAS_SetLogPath 44 Library for PC Program Ver6 45 FAS_SetLogPath Setup the folder path of Log output files Syntax BOOL FAS SetLogPath LPCTSTR IpPath Parameters oPath Folder path Character string of Log output file Return Value f the folder name is not exist or can not access return FALSE Remarks This function have to be called before FAS_Connect library If the IpPath value is NULL or the length is 0 the Log path is selected to Ezi MOTION Plus R Library folder The default value for Log path is NULL that the cur
23. is serviced together Refer to 3 Protocol for PLC Program 30 Library for PC Program VerO 31 2 Library for PC Program Ver6 2 1 Library Configuration To use this library CHF header file h and library file libor dll are required These files are included in WWFASTECHWWEZIMOTION PlusRWWincludeWW The following contents should be included in a source file for development include WWFASTECHWW EziMOTION PlusR WWincludeWWFAS EziMotionPlusR h include WWFASTECHWW EziMOTION PlusR WWincludeWWCOMM Def i ne h include WWFASTECHWW EZiMOTION PlusR WWincludeWWMOTION DEFINE h include WWFASTECHWW EziMOTION PlusR WWincludeWWReturnCodes Def ine h Also library files are as follows WWFASTECHWW EziMOTION PlusR WWincludeWWEz iMot ionPlusR lib WWFASTECHWW EziMOTION PlusR WWincludeWWEz i Mot ionP usR dl I A sample program source of using library is included in a WWFASTECHWWEZiMOTION PlusR WWExamplesWW folder 1 The following table describes values returned when each library DLL function is used The user can check the values returned at the library DLL function In case of low level programming this service not provided tem Definition Returned Descr iption Value The function has normally performed the Normal FMM OK 0 command FMM_NOT_OPEN 1 Wrong port number is inputted Input FMM INVALIO PORT NUM 2
24. number of relevant drive aw 0Se task Output bitmask value to be set aw OCLAMask Output bitmask value be cleared Return Value FMM_OK Command has been normally performed FMM_NOT_OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks There are 10 input pins in EziSERVO PlusR The user can select and use 9 output p ins of them 24V 5V R2 N Bi Output Wo A GND 24V When output data is 1 Port A becomes OV When it is 0 Port A becomes 5V Be careful that dwlOSetMask bit and dwlOCLRMask bit are not duplicated Example Refer to FAS SetlOInput See Also FAS Get lOOutput 60 Library for PC Program Ver6 61 FAS Get lO0utput To read 1 0 output values For more information refer to 1 2 Structure of Frame Type Syntax int FAS Get lOQutput BYTE nPortNo BYTE iSlaveNo OWORD dwlOOutput Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive aw O nout Parameter pointer which the output value will be saved Return Value FMM OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Examp
25. or the baudrate may be wrong return if FAS IsSlaveExist nPortNo iSlaveNo FALSE There is no relevant slave number Check the slave number of Ezi SERVO Plus R return nRtn FAS GetSlavelnfo nPortNo iSlaveNo amp nType IpBu ff nBuffSize if nRtn FMM OK Command has not been performed properly Refer to ReturnCodes Def ine h printf Port d Slave d Wn nPortNo iSlaveNo printf WtType d Wn nType printf WtVersion d Wn IpBuff 38 Disconnect FAS_Close nPor tNo See Also FAS_Close 39 Library for PC Program Ver6 39 FAS Close To disconnect the serial port being used Syntax void FAS Close BYTE nPor tNo Parameters nPor tNo Port number to disconnect Remarks Example Refer to FAS_Connect library See Also FAS_Connect 40 Library for PC Program Ver6 40 Library for PC Program Ver6 41 FAS GetSlavelnfo To get the version information string of the relevant drive Syntax int FAS GetSlavelnfo BYTE nPortNo BYTE iSlaveNo BYTE pType LPSTR IpBuff int nBuffSize Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive pType Relevant drive type number lpBuf f Buffer pointer to get version information string nBuffSize IpBuff memory allocation size Return Value FMM OK Command has been normally performed FMM NOT OPEN The driv
26. running Status value value value value PT number FAS To request all data including the current running status GetAI Status Frame type 0x41 and Ox42 are packed Sending 0 byte Response 33 bytes 0x43 1 byte 4 bytes 4 bytes 4 bytes 67 Communication Input status Output status Status flag status value value value 4 bytes 4 bytes 4 bytes 4 bytes 4 bytes Actual Position Running Current Command nA j o position Difference speed running position value value value value PT number FAS_ Ezi SERVO Plus R is the closed loop control drive and so the command SetCommandPos position value is continuously controlled while the motor is in running The user sets it to the command position value before it starts to operate and then can check how the command position value is changed 0x50 80 Sending 4 bytes 4 bytes Command position setting count value Response 1 byte 1 byte Communication status FAS To request the command position value pulse being tracked GetCommandPos 0x51 Sending 0 byte 81 Response 5 bytes 1 byte Communication status 4 bytes Command position value a 2 Communication Protocols C FAS SetActualPos Ezi SERVO Plus R is the closed loop control drive and so the actual position value is continuously controlled while the motor is in running The user sets it to the actual position value before it starts to operate and then can check how the actual position valu
27. 1 3 Program Method rio rero eR NE eap ER VERE PER YER PEENVE PERENNE ER FREE NE ER ERE SURE FEN FUE EVENEE NE EUER ERE REPRE EXE RE RR 30 2 Library tor PC Program VerO auasceenie veteris e FPE tH RE rEO te FPE tUa APR cU EFE UEE e FEE mue rtERETE 31 2 1 Library Gontguf aLEOTi essesete eere eve esee eote Tues Evo aee ve Tee voe Ya ep e eet e e Ves seus rd vea Yet ea oe ee EE asa 31 2 2 Communication Status WINAOW ccccccsssccsssssscccsssseecsssccecessscsecessccesessscesssccesesesceeseseseeeess 32 2 3 Drive Link FUNCTION ceiscsccccissscccdiscstecssacstecsoncstscsessabecseuusecsbscveestbsceescbeceeestbecoescuucavenseecoaseneed 37 AOE oee Dicant eerie etel EEEE SEE E DR Mene DE stews 38 ASSDIDSBm cu uet E EE E E E TE T T E E E 40 FAS GetS tave LIlbO eodeni serere e eee a e RE Eae tete EE EEA EEOAE ES 41 FAS GSEMO LON WMT o E E E E A EE TETEE EA T 42 FAS Se N ISH N SE SEAE PEA E EEN E SEEN E OE OE 43 EAS Enaple Oken E E E E ee oe 44 Communication Protocols BEC FAS SetLogPathis i Rt RE Mee EUER RE EHE RERO EE anita 45 2 4 Parameter Control Funct i OM ssssscsccscrscssssocscessrssssssccserssrsssscsceserserssseresseescrsssssnesseres 46 FAS SaVveAl Parameters eo niet E eR E ERE HEURE DUREE 47 FAS SetParallle EGT cere rte en en ege OH HG rn te ec o E ennai 49 FAS GetParamalber ian rete e ORRUF EHE GUTER E QURE 50 FAS GetROMParafle TET sec rct rere eer terr eer Re RR EREES 51 2 5 Servo Control PUNCH OM e
28. 2 Library for PC Program Ver6 1083 FAS MoveVeloci tyEx To move the motor to the relevant direction and velocity This function is also available for Jog motion Syntax int FAS MoveVeloci tyEx BYTE nPortNo BYTE iSlaveNo DWORD Veloci ty int iVelDir VELOCITY OPTION EX lpExOption Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Velocity Velocity when the motor moves i VelDir Direction which the motor moves 0 Jog 1 Jog pExOpt ion Custom option Return Value FMM OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Refer to VELOCITY OPTION EX struct Example include FAS EziMOTIONPIusR h void funcMoveVelocityEx BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 long IVelocity VELOCITY OPTION EX opt 0 int nRtn Try to connect if FAS Connect nPortNo 115200 FALSE Connection failed The port number may be wrong or incorrect Baudrate return i Moving motor with different acc dec time FAS MoveSingleAxisIncPosEx IVelocity 30000 opt flagOption BIT USE CUSTOMACCDEC 1 opt wCustomAccDecTime 300 103 Library for PC Program Ver6 104 nRtn FAS MoveVelo
29. 28 Compare Width wTr igger OnTime 2 unsigned 44 msec 1 9999 Push Rat io wPushRat io 2 unsigned 46 36 10 90 Push Speed dwPushSpeed 4 unsigned 48 pps 0 50000 Push Position IPushPosi t ion 4 signed 52 pulse 134217728 4134217728 Push Mode wPushMode 2 unsigned 56 0 1 Blank 6 unsigned 58 0x00 For the setting method by each item 1 2 7 refer to other manual Information of Motors Firstly the number and 2 3 characters are display the motor size and length Example 1 56XL Motor Flange size is 56mm and Extra long size Second area is display the motor maker information like belo w 29 User Manual Position Table Communication Protocols 30 Display Maker blank JapanSer vo SD Sanyo Denki YK Yunkong NPM NPM FUL Fulling MIN Minebia Lin Linear Step 1 3 Program Method There are 2 method of programming for Ezi SERVO Plus R The first is normally used method that using Visual C language under window system of PC Library that serviced together with Ezi SERVO Plus R have to be used Refer to T2 Library for PC Program The second method can be accomplished by sending command characters directly to Ezi SERVO Plus R The user have to prepare low level protocol programming like Protocol Test program This method is normally used for PLC system For excise the protocol programming ProtocolTest_PlusR exe GUI program
30. 3 0x00 0x00 0x3D 0x97 0xAA 0xEE Values 1 Header 0 2 SlaveNo BYTE Static CHAR Static WORD Static SHORT Static 3 Data DWORD Static LONG Static soo lbyte 2bytes 4 bytes 4 CRC 5 Tail CLEAR SEND gt gt 1 Header 2 Slave No 3 Frame type insert 53 in 1 byte size for Incremental Move command 4 Data Position value insert 10000 and click 4byte 5 Data Running speed insert 5000 and click 4 byte 6 CRC 7 Tail 8 Send After sending command you can check the motor rotation and if click Send more the motor will rotate one more time 3 PLC Programming In Protocol test GUI automatically calculate the Byte stuffing and CRC data For protocol programming in PLC you have to add the function of Byte stuffing and CRC calculation For Byte stuffing refer to 1 1 2 RS 485 Communication Protocol and for CRC refer to 1 1 3 CRC Calculation Example on UserManual EziSERVO PlusR _Communicat ion Function 121 Protocol for PLC Program Eo MEE e Please note that the specifications are subject to change without notice due to product improvements Copyright 2008 FASTECH Co Ltd All Rights Reserved June 20 2013 Rev 08 06 15 122
31. 64 FAS Set lOAss i gnMap To set O Assign Map For more information refer to 1 2 Structure of Frame Type Syntax int FAS_Set OAssignMap BYTE nPortNo BYTE iSlaveNo BYTE ilOPinNo BYTE nLogicNo BYTE bLevel Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive 0PinNo 0 Pin number to be read nl Logic Logic value to be assigned to the relevant pin bLeve Active Level value of the relevant logic Return Value FMM OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port FMM INVALID PARAMETER NUM Designated ilOPinNo or nlOLogic value is out of range Remarks To save current setting values to the memory FAS_SaveAl Parameters library should be run Example Refer to FAS GSetlOAssignMap library See Also FAS Get OAssignMap 64 Library for PC Program Ver6 65 FAS lOAssignMapReadROM To load the status of CN1 assignment being saved in ROM area Syntax int FAS PosTableReadROM BYTE nPortNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been normally per formed FMM_NOT_OPEN The drive has not been connected yet FMM INVALID PORT
32. ABLE CROVALUE i 0X0000 0XC601 OXCCO1 OXOA00 OxD801 OX1E00 0X1400 OxD201 OXF001 0X3600 0X3C00 OXFAO1 0X2800 OX C301 0X0500 OXOFOO 0XC901 OX1B00 OXDDO1 0XD701 0X1100 0X3300 OXF501 OXFFO1 0X3900 OXEBO1 OX03C0 OX0280 OXC241 OXC5C1 OXC481 0X0440 OXCFC1 OXCE81 0X0E40 OXO9CO OX0880 OXC841 OXDBC1 OXDA81 OX1A40 OX1DCO OX1C80 OXDC41 OX17CO OX1680 OXD641 OXD1C1 OXDO81 0X1040 OXF3C1 OXF281 OX3240 OX35C0 OX3480 OXF441 OXSFCO OX3E80 OXFE41 OXF9C1 OXF881 OX3840 OX2BCO OX2A80 OXEA41 OXCOC1 0X06CO0 OXOCCO OXCAC1 0X18C0 OXDEC1 OXD4C1 OX12C0 OX30C0 OXF6C1 OXFCC1 OX3ACO OXE8C1 OXC181 0X0780 0X0D80 OXCB81 0X 1980 OXDF81 OXD581 0X1380 0X3180 OXF781 OXFD81 OX3B80 OXE981 0X0140 OXC741 OXCD41 0X0B40 OXD941 OX1F40 0X1540 OXD841 OXF141 0X3740 OX3D40 OXFB41 0X2940 7s CRC_Checksum c provided with 1 2 OXEEO1 OXE401 0x2200 OxA001 0X6600 Ox6C00 OXAAO1 0X7800 OXBEO1 OXB401 0x7200 0x5000 0X9601 Ox9C01 OX5A00 0X8801 OX4E00 0x4400 0x8201 OX2ECO OX24C0 OXE2C1 0X60C0 OXA6C1 OXACC1 OX6ACO OXB8C1 OX7ECO OX74C0 OXB2C1 OX90C1 0X56C0 0X5CCO OX9AC1 0X48C0 OX8EC1 0X84C1 OX42C0 OX2F80 0X2580 OXE381 0X6180 OXA781 OXAD81 OX6B80 OXB981 OX7F80 0X7580 OXB381 0x9181 0X5780 OX5D80
33. BYTE nPortNo BYTE iSlaveNo long lAbsPos DWORD lVelocity MOTION OPTION EX IpExOption y Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive AbsPos Absolute coordinate of position to move Velocity Velocity when the motor moves pEx0ot ion Custom option Return Value FMM OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Refer to MOTION OPTION EX struct Example include FAS EziMOTIONPlusR h void funcMoveEx BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 DWORD dwAxisStatus dwlnput EZISERVO AXISSTATUS stAxisStatus long lAbsPos IIncPos lVelocity MOTION OPTION EX opt 0 int nRtn Try to connect if FAS Connect nPortNo 115200 FALSE Connection failed The port number may be wrong or incorrect Baudrate return Moving motor with different acc dec time IncPos 15000 100 Library for PC Program Ver6 101 IVelocity 30000 opt flagOption BIT USE CUSTOMACCEL opt flagOption BIT USE CUSTOMOECEL 1 Il peN opt wCustomAccelTime 50 opt wCustomDecelTime 200 nRtn FAS MoveSingleAxisIncPosEx nPortNo iSlaveNo IIncPos IVelocity amp opt _ASSERT nRtn FMM OK
34. C Program Ver6 63 nRtn FAS GetlOAssignMap nPortNo iSlaveNo i amp dwLogicMask amp bLevel _ASSERT nRtn FMM OK if dwLogicMask IN LOGIC NONE printf Input Pin d Logic Mask Ox 08X s Wn i dwLogicMask bLevel LEVEL LOW ACTIVE Low Active High Active else a printf Input Pin d Not assignedWn i Assign SERVOON Logic Low Active to input pin 3 iPinNo 3 0 11 value is available Caution 0 2 is fixed nRtn FAS SetlOAssignMap nPortNo iSlaveNo iPinNo SERVO IN BITMASK SERVOON LEVEL LOW ACTIVE _ASSERT nRtn FMM OK Check assign information of output pin for i 0 i lt 10 Output Pin Count i nRtn FAS GetlOAssignMap nPortNo iSlaveNo 12 Input Pin Count i amp dwLogicMask amp bLevel _ASSERT nRtn FMM OK if dwLogicMask OUT_LOGIC_NONE printf Output Pin d Logic Mask Ox 08X s Wn i dwLogicMask bLevel LEVEL LOW ACTIVE Low Active High Active else a printf Output Pin d Not assignedWn i Assign ALARM Logic High Active to output pin 9 iPinNo 9 0 9 value is available Caution O is fixed to COMPOUT nRtn FAS SetlOAssignMap nPortNo iSlaveNo 12 Input Pin Count iPinNo SERVO OUT BITMASK ALARM LEVEL HIGH ACTIVE _ASSERT nRtn FMM OK Disconnect FAS_Close nPor tNo See Also FAS SetlOAssignMap 63 Library for PC Program Ver6
35. CTPOS d Wn IValue nRtn FAS GetPosError nPortNo iSlaveNo amp lValue _ASSERT nRtn FMM OK printf POSERR d Wn IValue nRtn FAS GetActualVel nPortNo iSlaveNo amp lValue _ASSERT nRtn FMM OK 70 Library for PC Program VerO 7 printf ACTVEL d Wn IValue Disconnect FAS_Close nPor tNo See Also FAS GetActualPos 71 Library for PC Program VerO 72 FAS GetActualPos To read the actual position value of the motor Syntax int FAS GetActualPos BYTE nPortNo BYTE iSlaveNo long ActPos Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive ActPos Parameter pointer which the actual position value will be saved Return Value FMM_OK Command has been normally performed FMM_NOT_OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks When the user decides the motor position and checks its actual pos ition this function is generally used Example Refer to FAS GetCOmmandPosition library See Also FAS GetCommandPos 72 Library for PC Program VerO 73 FAS GetPosError To read the position error of the motor Syntax int FAS GetPosError BYTE nPortNo BYTE iSlaveNo long IPosErr Parameters nPor tNo Port number of releva
36. EmergencyStop 0x3C Sending 0 byte 60 Slave number must be 99 Response no response FAS AI I To request return to the origin at the current setting parameter Moveor iginSingleAxis condition for all motors that connected in same port Sending 0 byte Ox3D Slave number must be 99 61 Response no response FAS AI To request move its position as much as the absolute value pulse SingleAxisAbsPos for all motors that connected in same port Sending 8 bytes Slave number must be 99 OxS3E 4 bytes 4 bytes 62 Absolute position value Running speed pps Response no response 17 Communication Protocols EDT FAS AII SingleAxisIncPos To request move its position as much as the incremental value pulse for all motors that connected in same port Sending 8 bytes Slave number must be 99 Ox3F 4 bytes 4 bytes 63 incremental position value Running speed pps Response no response FAS Request the motor to move its position as much as the absolute MoveSingleAxisAbsPos value pulse with Custom Accel Decel Time msec Ex Sending 40 bytes 4 bytes 4 bytes 4 bytes 2 bytes Absolute Running speed Flag option Custom Accel Time position pps 1 9999 value 2 bytes 24 bytes r Custom Decel Time Reserved 128 1 9999 Flag ooption 0x0001 reserve
37. Ezi SERVO Plus R Closed Loop Stepping System with Network Based Motion Controller Ezi SERVO Closed Loop Stepping System User Manual Communication Function Ver6 Rev 08 06 15 Communication Protocols EET Table of Contents L C mm nicationm PILOLOGUIS Guccini Ux vln cV Dr d Iv rRD DU Fb ivre ueri a Er du DP vta P rad 6 1 1 Communication FUNCTIONS ccd ccdsccscctssacdecsvasssecsvecsdesscessdeececsosesecsooonsesdodnaceessdasen shnasedesetesssesstesss 6 1 1 1 Communication Specifications oo cssscessscneescesscsssssceusccessssseuscesussonsseenare 6 1 1 2 RS 485 Communication Protocol VEr6 voce cssccescescsscscescsscscssesssesscssesseeeses 6 l 1 3 GRG Calculation Examples seco itk tree te eee eerte soa eere eee o denne 7 1 1 4 Response Frame Structure and Communication Error Ver6 10 1 2 Structure of Frame type Ver6 escsscssccscsscssscscsscssssesssscsscssssssssscsssssccssssssssssssssesseeses 11 1 2 1 Frame type and Data Configuration sssssssssee es 11 15725725 Parametre b Sbscxcc mee LUI LU DU E IDEE 25 1 2 3 BIT Set OT OUTPUT Dibtlo ere recie Ere ee eee 26 W242 Bit set p OT INPUT Diflcissscesuisvan niercemciciete Er E EIER EIE 26 1 2 5 BIt setup or Status F 8g tere reote etes erret edes 27 2536 FOSILIO Table JP ESI sects totes Lei cL uUi n UM II eT 29 1 2 7 JntoermetlonOf MOTOS estie re etie rre et eee eR eet eter te 29
38. LID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port FMC POSTABLE ERROR An error occurs while position table is being saved Remarks Position table data is saved to RAM ROM area This function acts to save data to ROM area Even though power is off data is preserved Example See Also FAS PosTabl eReadROM 109 Library for PC Program Ver6 110 FAS PosTableReadROM To read position table items being saved in ROM area Syntax int FAS PosTableReadROM BYTE nPortNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been normally performed FMM_NOT_OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMC_POSTABLE_ERROR An error occurs while position table is being read Remarks Example See Also FAS PosTableWr i teROM 110 Library for PC Program Ver6 111 FAS PosTableRun tem To perform command from a specific item in the position table Syntax int FAS PosTableRunl tem BYTE nPortNo BYTE iSlaveNo WORD wl temNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive wl temNo Item number to start motion Return Value FMM
39. LSE i Connection failed The port is not connected or the baudrate may be wrong return Check error and Servo ON status nRtn FAS_GetAxisStatus nPortNo iSlaveNo amp dwAxisStatus _ASSERT nRtn FMM OK stAxisStatus dwValue dwAxisStatus lif dwAxisStatus amp 0x00000001 if stAxisStatus FFLAG ERRORALL 85 Library for PC Program Ver6 86 FAS ServoAlarmReset nPortNo iSlaveNo if dwAxisStatus amp 0x00100000 0x00 if stAxisStatus FFLAG SERVOON 0 FAS ServoEnable nPortNo iSlaveNo TRUE Check input status nRtn FAS GetlOInput nPortNo iSlaveNo amp dwlnput _ASSERT nRtn FMM OK if dwInput amp SERVO IN LOGIC STOP SERVO IN LOGIC PAUSE SERVO IN LOGIC ESTOP FAS Set lOInput nPor tNo iSlaveNo 0 SERVO IN LOGIC STOP SERVO IN LOGIC PAUSE SERVO IN LOGIC ESTOP See Also ncrease the motor to 15000 pulse IncPos 15000 IVelocity 30000 nRtn FAS MoveSingleAxisIncPos nPortNo iSlaveNo lIncPos IVelocity _ASSERT nRtn FMM OK Stand by until motion command is completely finished do i Sleep 1 nRtn FAS GetAxisStatus nPortNo iSlaveNo amp dwAxisStatus _ASSERT nRtn FMM OK stAxisStatus dwValue dwAxisStatus while stAxisStatus FFLAG MOTIONING Move the motor to O AbsPos 0 IVelocity 20000 nRtn FAS MoveSingleAxisAbsPos nPortNo iSlaveNo lAbsPos lIVelocity _ASSER
40. MM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port FMM INVALID PARAMETER NUM wltemNo is out of range Remarks Example include FAS EziMOTIONP IusR h void funcPosTable BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 WORD wl temNo ITEM NODE nodel tem int nRtn Try to connect if FAS Connect nPortNo 115200 FALSE i Connection failed The port is not connected or the baudrate may be wrong return Read No 20 Position table value and edit the position value wltemNo 20 nRtn FAS PosTableReadltem nPortNo iSlaveNo wltemNo amp nodel tem _ASSERT nRtn FMM OK nodeltem lPosition 260000 Change the position value to 260000 nodel tem wBranch 23 Set next command to 23 106 Library for PC Program Ver6 107 nodeltem wContinuous 1 Next command should be connected without deceleration nRtn FAS PosTableWr i tel tem nPortNo iSlaveNo wltemNo amp nodeltem _ASSERT nRtn FMM OK Call the value in the ROM regardless of edited position table data nRtn FAS PosTableReadROM nPortNo iSlaveNo _ASSERT nRtn FMM OK Save edited position table data in the ROM nRtn FAS PosTableWr i teROM nPortNo iSlaveNo ASSERT nRtn FMM OK Disconnect FAS_Close nPor tNo
41. OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port FMM INVALID PARAMETER NUM wltemNo is out of range Remarks Example See Also FAS GetAl IStatus FAS MoveStop FAS EmergencyStop 111 Library for PC Program Ver6 112 FAS PosTab eReadOne tem To read a one item in the specific position table Syntax int FAS PosTableReadOnel tem BYTE nPortNo BYTE iSlaveNo WORD wl temNo WORD wOffset long IPositemVal Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive w temNo Item number to be read WOf fset offset valuewhichwill beread inPT items Refer to 1 2 6 Position Table tem Return Value FMM OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port FMM INVALID PARAMETER NUM wltemNo is out of range Remarks Example See Also FAS PosTableWr i teOnel tem 112 Library for PC Program Ver6 113 FAS PosTableWr i teOnel tem To edit one item in the specific position table Syntax int FAS PoslableWr i teOneltem BYTE nPortNo BYTE iSlaveNo WORD wl temNo WORD wOffs
42. RG 77 gomez eH 78 E SMCALTENACUU c 79 Communication Protocols BEEN FAS GetAxISSTatus ici eot eR Mee PEE RE ERE ENERO assets 80 2 9 BR nning Control FUNCT OD sssscsccesscesccevecoaccsvetesccusetencscasdevescessosnssesdesvecesoandecessensssessecoususeseess 81 FAS MOVES OD iie rH Ett E PER EEE EE CEDERE assets 82 FAS EmnergenGy9Stop uie prp e n men ege oH Grp tee een 83 FAS Move r rginSingl eAXIS a cit reet rer UT HR ETUR DUREE 84 FAS MOVES ING 6 Ax ISADSPOS iacere terere e eor pereas 85 FAS MoveSingleAxisncPOS soie e E EEREURREH EEU EiS 87 FAS MoVeTOL LIE eec erc rper tegere tg e epe OE ent 88 FAS MoveVeloalty uini eec inre oet Ure RD e UTERE Ue EHE Dre eem 89 FAS PositronADSOVerT de uiae tg edic hee rb tetra ec rs 90 FAS PosittonIncOverr deo iier eR EE 92 FAS VelocItyOVetflde cisco rnit ieteg eere et i tete ib es a ti 93 FASSAT IMONVGSTOD terrier eeu E RUE mA 94 FAS ATIEmerdeneySt OP aet as ierit ted hne eee hit eei dre e bp idet 95 FAS AT IMove r I GINSING eA IS sce e etri et ee ette Hee ee o per test e ved EU vans 96 FAS AT IMovesingleAXI SADSPOS ec tee toten terere teet tese aes 97 FAS AT IMoveSingleAxiESTICPOS ctt e e t eee 98 FAS MovelinearAbsPos FAS MoveLinear IncPos sssssseeseeeeeenenennnes 99 FAS MovesingleAXISADSPOSEX n t Ue RE ER Ie ER Tr verre Ier HEEL ERES 100 FAS MoveSingleAxis IncPoSEx ssssssssssesesseeeeeenen nennen nennen 102 FAS iuis
43. T nRtn FMM OK Stand by until motion command is completely finished do i Sleep 1 nRtn FAS GetAxisStatus nPortNo iSlaveNo amp dwAxisStatus _ASSERT nRtn FMM OK stAxisStatus dwValue dwAxisStatus while stAxisStatus FFLAG MOTIONING Disconnect FAS_Close nPor tNo 86 Library for PC Program Ver6 87 FAS MoveSingleAxis ncPos To move the motor to the incremental coordinate value Syntax int FAS MoveSingleAxisIncPos BYTE nPortNo BYTE iSlaveNo long IIncPos DWORD Velocity Parameters nPor tNo Port number of relevant drive S laveNo Slave number of relevant drive ncPos Incremental coordinate of position to move Velocity Velocity when the motor moves Return Value FMM OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also 87 Library for PC Program Ver6 88 FAS_MoveToL imi t To give the motor a command to search the limit sensor Syntax int FAS MoveToL imi t BYTE nPortNo BYTE iSlaveNo DWORD IVelocity int iLimitDir Parameters nPor tNo Port number of relevant drive iSlaveNo Slave number of relevant drive Velocity Velocioty when the motor moves iLimitDir L
44. TE nPortNo BYTE iSlaveNo long lOverr idePos Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Over r idePos Incremental coordinate position value to be changed Return Value FMM_OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Refer to FAS PositionAbsOverride library Example Refer to FAS MoveSingleAxisAbsPos library See Also FAS PositionAbsOverr ide 92 Library for PC Program Ver6 93 FAS VelocityOverride To change the velocity set while the motor moves Syntax int FAS VelocityOverride BYTE nPortNo BYTE iSlaveNo DWORD IVelocity Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Velocity Velocity to be changed in pps Return Value FMM_OK Command has been normally performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Speed Time 1 In case of change speed lt speed before change the motor reaches the change speed through acceleration deceleration using a new velocity pattern 5 In case of change speed speed be
45. The port that is not connected E FMM INVALID SLAVE NUM 3 Wrong slave number is inputted Operat ion An error occurs while the motor accesses Error FM POSTABLE ERROR 9 to the position table FMC DI SCONNECTED 5 The relevant drive is disconnected Connect ion FMC TIMEOUT ERROR 6 Response delay 100 msec occurs Error FMC CRCFAILED ERROR 7 Checksum error occurs Protocol level error occurs in packet FNC RECVPACKET ERROR 8 that comes from Orive 31 Library for PC Program Ver6 32 2 The following table shows return values included commonly in all libraries The user can check the result communication status running status judged by the drive When the user develops programs by using protocols without libraries DLL they are available as well Item Descr iption qued Descr iption Value Normal FMP OK 0 Communication has been normally per formed Input FMP_FRAMETYPEERROR 128 The drive cannot recognize the command Error FMP_DATAERROR 129 Inout data is out of the range The motor is already running or not prepared for FMP_ RUNFATL 133 running Other wrong motion command The user cannot execute AlarmReset command FP RESETFAIL 134 while the servo is ON Operation FMP_SERVOONFAIL1 135 An alarm has occurred Error FMP_SERVOONFAIL2 136 The motor is under Emergency Stop FMP_SERVOONFAIL3 137 E din signal is already assigned to input Protocol level error occurs in packet that Con
46. arameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been normally performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Parameter values set to FAS SetlOAssignMap library as well as current parameter values are saved to the ROM Example include FAS EziMOTIONPIusR h void funcModi f yPar ameter i BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 long IParamVal int nRtn Try to connect if FAS Connect nPortNo 115200 FALSE Connection failed The port is not connected or the baudrate may be wrong return Check Axis Start Speed Parameter nRtn FAS GetParameter nPortNo iSlaveNo SERVO_AXISSTARTSPEED amp lParamVal if nRtn FMM OK Command has not been performed properly Refer to ReturnCodes Def ine h _ASSERT FALSE else Parameter value saved in Ezi SERVO Plus R printf Parameter before Start Speed d Wn IParamVal 47 Library for PC Program Ver6 48 Change Axis Start Speed parameter as 200 then read it again nRtn FAS SetParameter nPortNo iSlaveNo SER VO AXISSTARTSPEED 200 _ASSERT nRtn FMM OK You have to check if the command didn t execute correctl
47. cityEx nPortNo iSlaveNo IVelocity DIR INC amp opt _ASSERT nRtn FMM 0K Sleep 5000 FAS MoveStop nPortNo iSlaveNo See Also 104 Library for PC Program Ver6 105 2 10 Position Table Control Function Function Name Descr iption FAS PosTab eRead tem o read items of RAM area in the specific all items of position table FAS PosTableWr i tel tem To save specific all items of position table items to RAM area To save all of position table values to ROM area Total 256 PT values are saved To read position table values in ROM area Total 256 PT values are read The motor starts to run from the designated position table in sequence FAS PosTableReadOneltem To read items of RAM area in the specific one item of position table FAS PosTableWr iteOneltem To save specific one item of position table items to RAM area FAS PosTabl eWr i teROM FAS PosTab eReadROM FAS PosTableRunltem 105 Library for PC Program Ver6 106 FAS_PosTab eRead tem To read a specific item in the position table Syntax int FAS PosTableReadl tem BYTE nPortNo BYTE iSlaveNo WORD wl temNo LPITEM NODE Ipltem Parameters nPor tNo Port number of relevant drive S laveNo Slave number of relevant drive wi temNo tem number to be read Ip tem tem structure pointer which item value is saved Return Value FMM OK Command has been normally performed F
48. ction Function Name Descr ipt ion FAS ServoEnable The Servo of the drive designated turns ON OFF The drive which an alarm occurs is released Troubleshoot the alarm cause and use this function FAS AlarmType Read the Alarm type of the drive FAS ServoAlarmReset 52 Library for PC Program Ver6 583 FAS Ser voEnable To turn ON OFF the drive servo Syntax int FAS ServoEnable BYTE nPortNo BYTE iSlaveNo BOOL bOnOff Parameters nPor tNo Port number of relevant drive S laveNo Slave number of relevant bOnOfF Enable or Disable Return Value FMM_OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks The given time is required until Servo ON flag in the axis status turns on after enable Example amp include FAS EziMOTIONP usR h void funcAxisStatus i BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 EZISERVO AXISSTATUS AxisStatus int nRtn Try to connect if FAS Connect nPortNo 115200 FALSE Connection failed The port is not connected or the baudrate may be wrong return nRtn FAS GetAxisStatus nPortNo iSlaveNo amp AxisStatus dwValue _ASSERT nRtn FMM OK f SERVO ON flag turns off the servo turns o
49. d Ox0002 Custom Accel Time is used 0x0004 Custom Decel Time is used If the Flag bit is OFF status 0 Accel Oecel Time value is used that saved in controller Response 1 byte FAS Request the motor to move its position as much as the absolute MoveSingleAxis InePos value pulse with Custom Accel Decel Time msec Ex Sending 40 bytes 4 bytes 4 bytes 4 bytes 2 bytes incremental Running speed Flag Custom Accel Time position pps opt ion 1 9999 value 2 bytes 24 bytes 0x81 129 Custom Decel Time Reser ved 1 9999 Flag ooption 0x0001 reserved Ox0002 Custom Accel 0x0004 Custom Decel Time is used If the Flag bit is OFF status 0 Accel Decel used that saved in controller Time is used Time value is Response 1 byte 18 Communication Protocols fea FAS MoveVe loci tyEx Request the motor to start jog motion at the current setting parameter condition with custom Accel Decel time value msec Sending 37 bytes 4 bytes 1 bytes 4 bytes Running speed Running direction 0 Jog Flag option pps 1 Jog 2 2 0x82 bytes 6 bytes 130 Custom Accel Decel Time Reser ved 1 9999 Flag ooption 0x0001 reserved 0x0002 Custom Accel Decel Time is used If the Flag bit is OFF status 0 Accel 0ecel Time value is used that saved in controller Response 1 byte FAS MoveLinearAbsPos l
50. e is changed 0x52 82 Sending 4 bytes 4 bytes Actual position count value Response 1 byte 1 byte Communication status FAS To request the current actual position value pulse GetActualPos 0x53 Sending 0 byte 83 Response 5 bytes 1 byte 4 bytes Communication status Actual position value FAS To request the difference pulse between the command position value GetPosEr ror and the actual position value Sending 0 byte Response 5 bytes 0x54 ven 1 byte 4 bytes Communication status Position difference value By this value the user can check the current running status how much inposition is tracked FAS To request the current running speed value pps GetActualVel 0x55 Sending 0 byte 85 Response 5 bytes 1 byte 4 bytes Communication status Speed value FAS Ezi SERVO Plus R is the closed loop control drive and so the command ClearPosition position value is continuously controlled while the motor is in running The user sets the command position and actual position value to 0 before it starts to operate and then can check how the command position value is changed 0x56 86 Sending 0 byte Response 1 byte 1 byte Communication status 21 Communication Protocols B
51. e has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS Connect library See Also A1 Library for PC Program Ver6 42 FAS GetMotor Info To get the motor information string of the relevant drive Syntax int FAS GetMotor Info BYTE nPortNo BYTE iSlaveNo BYTE pType LPSTR IpBuff int nBuffSize Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive pType Relevant motor type number lpBuf f Buffer pointer to get version information string nBuffSize IpBuff memory allocation size Return Value FMM OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_Connect library See Also 42 Library for PC Program Ver6 43 FAS I sSlaveExist To check that the drive is connected Syntax BOOL FAS IsSlaveExist BYTE nPortNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value TRUE The drive is connected FALSE The drive is disconnected Remarks This function is provided from the library only and it is
52. e number of relevant drive must be 99 ncPos Incremental coordinate of position to move Velocity Velocity when the motor moves Return Value No response Remarks Example Refer to FAS MoveSingleAxisAbsPos library See Also 98 Library for PC Program Ver 99 FAS MovelinearAbsPos FAS Movel inear I ncPos To move Linear Interpolation more than 2 motors that connected in same port to the absolute increnental coordinate Syntax int FAS MoveLinearAbsPos BYTE nPortNo BYTE nNoOfsSlaves BYTE iSlaveNo long IAbsPos DWORD lFeedrate WORD wAccelTime y Parameters nPor tNo Port number of relevant drive nNoOfSlaves Slave numbers for Linear motioning SlaveNo Array of Slave numbers AbsPos Array of position value for each slave in case of incremental Distance Feearate Speed value for motioning wAccelTime Acceleration amp deceleration time value Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks When this function is used the Start speed value must be designated to 1 99 Library for PC Program Ver6 100 FAS MoveSingleAxisAbsPosEx To move the motor to the absolute coordinate Syntax int FAS MoveSingleAxisAbsPosEx
53. ed to 2 memory areas That is when power is off the ROM saves parameters permanently When power is on parameters in the ROM are copied to the DSP RAM and used When the user changes parameters it changes not parameters in the ROM but parameter in the RAM This function reads the parameter number designated to the RAM Example Refer to FAS_SaveAl Parameter library See Also FAS SetParameter 50 Library for PC Program VerO 51 FAS_GetROMPar amet er To call parameters saved in the ROM Syntax int FAS_GetROMPar ameter BYTE nPortNo BYTE iSlaveNo BYTE iParamNo long RomParam Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive ParamNo Parameter number to be imported RomParam Parameter values saved in the ROM Return Value FMM_OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port FMM INVALID PARAMETER NUM There is no parameter of designated iParamNo Remarks To call parameter values saved in the ROM Even though this function runs the value in the RAM is not changed For this run FAS SetParameter Example Refer to FAS SaveAllParameter library See Also FAS SaveA Parameters 51 Library for PC Program Ver6 52 2 5 Servo Control Fun
54. error normal The code by bytes means the Communication status as follows Hexa Decimal One Cd Descr ipt ion 0x00 0 Communication is normal Frame Type Error um 128 Responded Frame type cannot be recognized 0x81 129 Data error ROM data read write error Data value responded is without the given range Received Frame Error 0x82 Iag Frame data received is out of this specification Running Command Failure The user has tried to execute new running commands in wrong condition as follows 0x85 133 currently motor is running currently motor is stopping currently Servo is OFF status try to Z pulse Origin without encoder other wrong motion command oA UMN RESET Failure The user has tried to execute new running commands in wrong condition as 0x86 134 follows 1 While the servo is ON 2 Already RESET in ON by external input signal Servo ON Failure D akar s While an alarm occurs the user has tried to execu te Servo ON command Servo ON Failure 2 0x88 136 While Emergency Stop occurs the user has tried to execute Servo ON command Servo ON Failure 0x89 137 ServoON signal is assigned to input pin already Servo ON OFF Can execute by external input signal only CRC Error OxAA 170 Frame data received is out of CRC format In this case DLL Library of sending side automatically try to send 1 more time 1 If Header and Slave ID
55. eset status by external input signal 35 Library for PC Program Ver6 36 FMP_SERVOONFAIL1 AN The command returned an error Command FAS ServoEnable Return code FMP_SERVOONFAILI 0x87 n alarm has occurred Wrong Servo ON command during Alarm happens FMP SERVOONFAIL2 The command returned an error Command FAS ServoEnable Return code FMP_SERVOONFAIL2 0x88 The Motor is under Emergency Stop Wrong Servo ON command during E Stop happens FMP SERVOONFAIL3 The command returned an error Command FAS ServoEnable Return code FMP_SERVOONFAILS 0x89 The Servo On signal is assigned at external input Servo ON Signal is assigned by external input pin In this case Servo ON command by DLL library is not wor king 3 Command Execution Error AN The command returned an error Command FAS_PosTableWriteltern Return code FMM POSTABLE ERROR 0x09 An error occurs while the motor accesses to the position table FMM POSTABLE ERROR The execution of DLL library for Position Table is failed 36 Library for PC Program Ver6 37 2 3 Drive Link Function Function Name Descr iption The drive tries to connect communication with the drive module FAS Connect When it is successfully connected TRUE will return Otherwise FALSE will return FAS Close The drive tries to disconnect communication with the dri
56. esponse 1 byte 1 byte Communication status FAS Specific parameter values in the ROM are read GetRomParameter Sending 1 byte 1 byte Parameter number 0 31 0x11 17 Response 5 bytes 1 byte 4 bytes Communication status Parameter value Refer to 4 2 2 Parameter List 11 Communication Protocols E TENE FAS Specific parameter values are saved to the RAM SetParameter Sending 5 bytes 1 byte 4 bytes Parameter number 0 31 Parameter value 0x12 18 Response 1 byte 1 byte Communication status Refer to 1 2 2 Parameter List FAS_ Specific parameter values in the RAM are read GetParameter Sending 1 byte 1 byte Parameter number 0x13 0 31 19 Response 5 bytes 1 byte 4 bytes Communication status Parameter value Refer to 1 2 2 Parameter List FAS Output signal level of the control output port is set Set lO0utput Sending 8 bytes 4 bytes 4 bytes O set mask value 1 0 clear mask value hen specific bi t of the set mask is 1 the relevant output port signal 0x20 is set Ta ONT muU 32 hen specific bit of the clear mask is 1 the relevant output port signal is set to OFF For more information refer to 1 2 3 Bit setup of Output Pin Response 1 byte 1 byte Communication status FAS Input signal level of the control in
57. et long IPositemVal Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive w temNo tem number to be edited WOf fset offset value which will be save inPT items Refer to 1 2 6 Position Table Item Return Value FMM OK Command has been normally perform ed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port FMC POSTABLE ERROR An error occurs while position table is being written FMM INVALID PARAMETER NUM wlItemNo is out of range Remarks Example See Also FAS PosTableReadOnel tem 113 Library for PC Program Ver6 114 2 11 Other Control Function Function Name Descr ipt ion FAS Tr igger Output RunA To Start Stop command for Compare Out signal FAS Tr iggerOutput_Status To check if the trigger output pulse is working or not FAS MovePush To request push motion maintain specified motor torque command FAS GetPushStatus To request thecurrent push motion status 114 Library for PC Program Ver6 115 FAS TriggerOutput RunA To start stop the digital output signal Compare Out pin when reaching the specific Taregt position Syntax int FAS TriggerOutput RunA BYTE nPortNo BYTE iSlaveNo BOOL bStartTrigger long IStartPos DWORD dwPer iod DWORD dwP
58. fore change the motor reaches the change speed through acceleration deceleration without any new velocity pattern 4 The motor reaches the speed before change without a change of the velocity pattern and then it reaches the change speed by a new velocity pattern 2 3 After accelerat ion deceleration is finished the motor reaches the change speed corresponding to the velocity pattern of the change speed Example Refer to FAS_MoveSingleAxisAbsPos library See Also 93 FAS AI MoveStop To stop the motor that connected in same port Syntax int FAS Al IMoveStop BYTE nPortNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value No response Remarks Example Refer to FAS MoveSingleAxisAbsPos See Also must be library 94 gg Library for PC Program Ver6 94 Library for PC Program Ver6 95 FAS AI Emer gencyStop To stop the motor that connected in same port without deceleration Syntax int FAS Al EmergencyStop BYTE nPortNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive must be 99 Return Value No response Remarks This function does not include deceleration phase So the user must be careful so that the machine cannot be impacted Example Refer to FAS_MoveSingleAxisAbsPos l
59. h Speed pps 1 500 000 1 000 19 Org Acc Dec Time msec 1 9 999 50 20 Org Method 0 2 0 21 Org Dir 0 1 0 22 Org Offset pulse 134 217 727 134 217 727 0 23 rg Position Set pulse 194 217 727 134 217 727 0 24 Org Sensor Logic 0 1 0 25 position Loop Gain 0 15 4 26 Inpos Value 0 15 0 27 Pos Tracking Limit pulse 1 134 217 727 5 000 28 Motion Dir 0 1 0 29 Limit Sensor Dir 0 1 0 30 Org Torque Ratio 36 10 100 50 31 Pos Error Overflow Limit pulse 1 134 217 727 5 000 32 Pos Value Counting Method 0 1 0 255 Communication Protocols NN 1 2 3 Bit setup of Output pin This displays the detailed description for 0x20 Frame type This command is applicable only to 9 signals of User Output 0 User Output 8 out of 24 signal types in the control output port The rest 15 output signals of them cannot be operated by the user s disposal When any relevant situation occurs while the drive operate s they are displayed The following table shows bit mask values by each signal Relevant Relevant Relevant Signal Name Bit Signal Name Bit Signal Name Bit Position Position Position Compare Out 0x00000001 Origin Search OK 0x00000100 User Output 1 0x000 10000 Inposition 0x00000002 Ser voReady 0x00000200 User Output 2 0x00020000 Alarm 0x00000004 reser ved 0x00000400 User Output 3 0x00040000 Mov i ng 0x00000008 reser ved 0x00000800 User Output 4 0x00080000 Acc Dec 0x00000010 PT Out
60. he deceleration section 0X40000000 The motor is operating to the normal speed not 0X80000000 FFLAG MOTIONCONST acceleration deceleration sections 28 1 2 6 Position Table Item Communication Protocols By Refer to motion define h of include files Name NOUS OPN ere Number of Bytes Busen Unit Low Limit EI Parameter value Limit Position IPosition 4 signed 0 pulse 134217728 4134217728 Low Speed dwStar tSpd 4 unsigned 4 pps 0 500000 High Speed dwMoveSpd 4 unsigned 8 pps 0 500000 Accel Time wAcce Rate 2 unsigned 12 msec 1 9999 Decel Time wOece Rate 2 unsigned 14 msec 1 9999 Command wCommand 2 unsigned 16 0 10 Wait time wai tTime 2 unsigned 18 msec 0 600000 Continuous Action wContinuous 2 unsigned 20 0 1 Jump Table No wBranch 2 unsigned ae s 10000 0255 Jump PT 0 wCond br anchO 2 unsigned a i en 10000 0255 Jump PT 1 wCond branch1 2 unsigned ei 10000 0255 Jump PT 2 wCond_br anch2 2 unsigned e a gt 10000 0255 Loop Count wLoopCount 2 unsigned 30 0 100 Loop Jump Table No wBranchAfterLoop 2 unsigned 10000 0255 PT set wPTSet 2 unsigned 34 0 15 Loop Counter Clear wLoopCountCLR 2 unsigned 36 0 255 Check Inposi tion bCheck I npos 2 unsigned 38 0 1 Compare Position ITr iggerPos 4 signed 40 pulse 134217728 41342177
61. iSlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS MoveSingleAxisAbsPos library See Also 84 Library for PC Program Ver6 85 FAS MoveSingleAxisAbsPos To move the motor to the absolute coordinate Syntax int FAS MoveSingleAxisAbsPos BYTE nPortNo BYTE iSlaveNo long AbsPos DWORD Velocity Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive AbsPos Absolute coordinate of position to move Velocity Velocity when the motor moves Return Value FMM_OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example include FAS EziMOTIONPIusR h void funcMove BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 DWORD dwAxisStatus dwlnput EZISERVO AXISSTATUS stAxisStatus long lAbsPos IIncPos Velocity int nRtn Try to connect if FAS Connect nPortNo 115200 FA
62. ibrary See Also 95 Library for PC Program Ver6 96 FAS Al IMoveOr iginSingleAxis To search the origin of system for all motor that is connected in same port For more information refer to User Manual Text 9 3 Origin Return Syntax int FAS Al IMoveOr iginSingleAxis BYTE nPortNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive must be 99 Return Value No response Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also 96 FAS Al IMoveSingleAxisAbsPos Library for PC Program Ver6 97 To move the motor that connected in same port to the absolute coordinate Syntax int FAS Al IMoveSingleAxisAbsPos BYTE nPortNo BYTE iSlaveNo long AbsPos DWORD IVelocity Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive must be AbsPos Absolute coordinate of position to move Velocity Velocity when the motor moves Return Value No response Remarks Example See Also 97 gg Library for PC Program Ver6 98 FAS Al IMoveSingleAxisIncP os To move the motor that connected in same port to the incremental coordinate value Syntax int FAS Al IMoveSingleAxislncPos BYTE nPortNo BYTE iSlaveNo long IncPos DWORD IVelocity Parameters nPor tNo Port number of relevant drive iSlaveNo Slav
63. imit direction which the motor moves 0 Limit 1 Limit Return Value FMM OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS MoveSingleAxisAbsPos library See Also 88 Library for PC Program Ver6 89 FAS MoveVelocity To move the motor to the relevant direction and velocity This function is also available for Jog motion Syntax int FAS_MoveVeloci ty BYTE nPortNo BYTE iSlaveNo DWORD Velocity int iVelDir Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Velocity Velocity when the motor moves i VelDir Direction which the motor moves 0 Jog 1 Jog Return Value FMM_OK Command has been normally performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also 89 Library for PC Program Ver6 90 FAS PositionAbsOverr ide To change the absolute position value set while the motor mov es to the absolute position Syntax int FAS_Posit ionAbsOver r ide BYTE nPortNo BYTE iSlaveNo long lOve
64. ing position command run FFLAG ERRSERVOALARM One or more error of Servo alarm 8 ea occurs 0X00000080 FFLAG ERROVERCURRENT The motor driving device is under over current 0X00000100 FFLAG_ERROVERSPEED The motor speed exceeded 3000 rpm 0X00000200 FFLAG ERRSPEED The motor is not tracked normally by pulse input 0X00000400 FFLAG ERROVERLOAD Load exceeding the max torque of the motor is loaded more 0X00000800 than 5 seconds FFLAG ERROVERHEAT The internal temperature of the drive exceeds 55 C 0X0000 1000 FFLAG ERRREVPWR A counter electromotive force of the motor exceeds 70V 0X00002000 FFLAG ERRMOTORPOWER The motor is not connected to drive correctly 0X00004000 After operation is finished a position error occurs for 0X00008000 FFLAG ERRINPOSITION more than 3 seconds FFLAG_EMGSTOP The motor is under emergency stop 0X000 10000 FFLAG_SLOWSTOP The motor is under general stop 0X00020000 FFLAG ORIGINRETURNING The motor is returning to the origin 0X00040000 FFLAG NPOSITION Inposition has been finished 0X00080000 FFLAG SERVOON The motor is under Servo ON 0X00100000 FFLAG ALARMRESET AlarmReset has run 0X00200000 FFLAG PTSTOPED Position Table operation has been finished 0X00400000 FFLAG ORIGINSENSOR The origin sensor is ON 0X00800000 The motor operates to z pulse type of origin return 0X01000000 FFLAG ZPULSE operations FFLAG ORIGINRETOK Origin return operation has been finished 0X02000000 FFLAG MOTIONOIR To display the motor operating directi
65. laveNo in the relevant port FMM INVALID PARAMETER NUM There is no parameter of designated iParamNo Remarks The function operates only for one parameter designated Parameters in the drive are saved to 2 memory areas That is when power is off the ROM saves parameters permanently When power is on parameters in the ROM are copied to the DSP RAM and used When the user changes parameters it changes not parameters in the ROM but parameter in the RAM This function is to set the parameter number designated from the RAM to the relevant value Example Refer to FAS SaveAllParameter library See Also FAS GetParameter 49 Library for PC Program Ver6 50 FAS GetParamater To call specific parameter values of the drive Syntax int FAS GetParameter BYTE nPortNo BYTE iSlaveNo BYTE iParamNo long ParamValue Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive ParamNo Parameter number to be imported Paramva ue Parameter values Return Value FMM_OK Command has been normally performed FMM_NOT_OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port FMM INVALID PARAMETER NUM There is no parameter of designated iParamNo Remarks The function operates only for one parameter designated Parameters in the drive are sav
66. le Refer to FAS SetlOInput library See Also FAS SetlO0utput 61 Library for PC Program Ver6 62 FAS Get I OAss i gnMap To read 1 0 Assign Map For more information refer to 1 2 Structure of Frame Type Syntax int FAS Get lOAssignMap BYTE nPortNo BYTE iSlaveNo BYTE ilOPinNo BYTE nlOLogic BYTE bLevel Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive 0P nNo I O pin number to be read nl Logic Parameter pointer which the logic value assigned to a relevant pin will be saved bLevel Parameter pointer which the active level of relevant logic will be saved Return Value FMM OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks For nlOLogic refer to Motion define h Example include FAS_ EziMOTIONPlusR h void funclOAssign BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 BYTE iPinNo DWORD dwLogicMask BYTE bLevel BYTE i int nRtn Try to connect if FAS Connect nPortNo 115200 FALSE Connection failed The port is not connected or the baudrate may be wrong return Check assigned information of input pin for i 0 i lt Input Pin Count 12 i 62 Library for P
67. lso applicable to the library provided When the system is 1 1 1 Communication Specifications Specification RS 485 f Asynchronous Communication Type Half duplex Baud Rate bps 19200 38400 57600 230400 460800 921600 115200 Data Type bit Binary Parity No Stop Bit lbit CRC Check Yes Max Cabling Length Converter lt Drive 30 m Min Cable length between drive More than 60 cm Number of Connected Axes 16 axes No O F 1 1 2 RS 485 Communication Protocol Ver6 Thers are 2 kinds of program version for SERVO Plus R This manual support for Version 6 level Type Firmware version compatability User Program GUI version 1 Level 6 V06 0x 0xx xx lt gt Level 6 6 xx x xxx 2 Level 8 V08 xx Oxx xx lt gt Level 8 8 xx x xxx After connect the User Program GUI Version number can be check in About Plus R GUI menu in Help About Ezi MOTION Plus R GUI F menu Plus R GUI Version 6 16 0 585 rev 791 Supported firmware version 1 Ezi SERVO Plus R ST 2 Ezi STEP Plus R ST VOS V06 Copyright C 2008 FASTECH Co Ltd 1 Overview of communication FRAME PC Communication Port n E Response Frame 2 Basic structure of Frame Communication Protocols EL NENNEN Ezi SERVO
68. n if AxisStatus FFLAG SERVOON 0 i nRtn FAS ServoEnable nPortNo iSlaveNo TRUE _ASSERT nRtn FMM OK Mf there is an alarm AlarmReset runs if AxisStatus FFLAG ERRORALL E AxisStatus FFLAG ERROVERCURRENT AxisStatus FFLAG_ERROVERLOAD nRtn FAS ServoAlarmReset nPortNo iSlaveNo _ASSERT nRtn FMM OK 853 Disconnect FAS_Close nPor tNo See Also FAS ServoAlarmReset 54 Library for PC Program Ver6 54 Library for PC Program VerO 55 FAS Ser voAlarmReset To send AlarmReset command Syntax int FAS ServoAlarmReset BYTE nPortNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Before sending this command troubleshoot the alarm cause For alarm cause refer to User Manual Text Example Refer to FAS ServoEnable library See Also FAS ServoEnable sS o Library for PC Program Ver6 56 2 6 Control 1 0 Function Function Name Descr ipt ion To set the input signal level of the control input port Input signal is set to ON or OFF To read the current input signal status of the control i nput port
69. n Error FMP PACKETERROR The command returned an error Command FAS MoveSinale amp xis amp bsPos Return code FMP_PACKETERROR 0482 The length of received packet on drive is not correct Checking the possibility of noise on communication cable 34 Library for PC Program VerO 35 Communication Error IN The command returned an error Command FAS MoveSingle amp xis amp bsPos Return code FMP_PACKETCRCERROR 0x amp 4 An error is occured while checking CRC of the packet which drive received FMP PACKETCRCERROR 0OxAA The CRC value on drive is not correct Checking the possibility of noiseon communication cable 2 Wrong Command mM The command returned an error Command FAS_MoveSingleAxisincPos Return cade FMP_RUNFAIL 0x85 Running command failure Refer to communication function manual FMP RUNFAIL 0x85 Fail on motion command The motor can not run on next status The motor is already running The motor is under stop command Servo OFF status Try to Z pulse Origin without external encoder only for Ezi STEP other wrong motion command Wrong Command K A The command returned an error Command F S_Servo larmReset Return code FMP_RESETFAIL 0x86 Running command failure Refer to communication function manual FMP RESETFAIL Fail on reset command The motor can not reset on next status Servo ON status Already R
70. nection FMP PACKETERROR 180 Drive s received Error CRC value is not correct in packet that Drive s FMP PACKETCRCERROR 170 rece ved 2 2 Communication Status Window Above communication status is divide by 3 groups 1 Communication Error Communication Error FMM_NOT_OPEN The command is failed Command FAS_MoveSingleAxisAbsPos Return code FMM NOT OPEN 0x01 Wrong port number is inputted COM Port is not connected Communication Error FMM_INVALID_PORT_NUM The command is failed Command FAS_MoveSingleAxisAbsPos Return code FMM INVALID PORT NUM 0x02 COM Port number is not exist Checking the Device Manager window in Window OS 232 Communication Error The command is failed Command FAS MoveSingleAxis amp bsPos Return code FMM INVALID SLAVE NUM 0x03 Wrong slave number is inputted Slave number is not exist The command is failed Command FAS MoveSingle amp xis amp bsPos Return code FMC_DISCONNECTED 0x05 The relevant drive is disconnected COM Port is disconnect during communication Or Power of the drive The command is failed Command FAS MoveSingle amp xis amp bsPos Return code FMC TIMEOUT ERROR 0x06 Response delay occurs m cm There is no response from the drive The command is failed Command FAS MoveSingleAxis am
71. nt drive S aveNo Slave number of relevant drive PosErr Parameter pointer which the position error value will be saved Return Value FMM_OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_GetCOmmandPosition library See Also FAS GetCommandPos FAS GetActualPos 73 Library for PC Program Ver6 74 FAS GetActualVel To read the actual velocity of the motor Syntax int FAS GetActualVel BYTE nPortNo BYTE iSlaveNo long lActVel Parameters nPor tNo Port number of relevant drive iSlaveNo Slave number of relevant drive Act Vel Parameter pointer which the actual velocity value will be saved Return Value FMM OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_GetCOmmandPosition library See Also 74 Library for PC Program VerO 75 FAS ClearPosition To set the command position value and actual value to 0 Syntax int FAS SetCommandPos BYTE nPortNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive
72. o request Linear Interpolation move its position as much as the absolute value pulse for more than 2 motors that connected in same port Refer to 2 Library for PC program FAS MoveLinearIncPos To request Linear Interpolation move its position as much as the incremental value pulse for more than 2 motors that connected in same port Refer to 2 Library for PC program FAS_ To request the Flag value of displaying the running status GetAxisStatus Sending 0 byte Response 5 bytes 0x40 64 1 byte 4 bytes Communication status Status flag value For bit related to each Flag refer to 1 2 5 Bit setup of Status Flag FAS_ To request the 0 status and the running Flag status Get OAxisStatus Frame type 0x22 0x23 and 0x40 are packed Sending 0 byte 0x41 Response 13 bytes 65 1 byte 4 bytes 4 bytes 4 bytes Communication Input status Output status Status flag status value value value 19 Communication Protocols i FAS GetMot ionStatus To request the current running progress status and its PT number Frame type 0x51 0x53 0x54 and 0x55 are packed Sending 0 byte Response 21 bytes 0x42 66 1 byte 4 bytes 4 bytes 4 bytes 4 bytes 4 bytes Command Actual Position Running Current Communicat ion sl n position Position Difference speed
73. on Off On 0X04000000 FFLAG MOTIONING The motor is running 0X08000000 FFLAG MOTIONPAUSE The motor in running is stopped by Pause command 0X10000000 FFLAG MOTIONACCEL The motor is operating to the acceleration section 0X20000000 FFLAG MOTIONOECEL The motor is operating to the deceleration section 0X40000000 The motor is operating to the normal speed not 0X80000000 FFLAG MOTIONCONST acceleration deceleration sections T Communication Protocols EU ext bit assignments can be applied over the Firmware version of 06 03 043 10 Name of Flag Define Contents ever 2 Position FFLAG ERRORALL One or more error occurs 0X00000001 FFLAG HWPOSILMT direction limit sensor turns ON 0X00000002 FFLAG HWNEGALMT direction limit sensor turns ON 0X00000004 FFLAG SWPOGILMT direction program limit is exceeded 0X00000008 FFLAG SWNEGALMT direction program limit is exceeded 0X00000010 Reser ved 0X00000020 Reser ved2 0X00000040 Position error is higher than Pos Error Overflow 0X00000080 FFLAG ERRPOSOVERFLOW Limit parameter after position command FFLAG ERROVERCURRENT The motor driving device is under over current 0X00000100 FFLAG ERROVERSPEED The motor speed exceeded 3000 rpm 0X00000200 FFLAG_ERRPOSTRACK ING ee Ten error S Dad than Pos Tracking 0X00000400 Limit parameter during p
74. ortNo BYTE iSlaveNo long CmdPos long lActPos long IPosErr long lActVel WORD wPosltemNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive CmdPos Parameter pointer which the command position value will be saved ActPos Parameter pointer which the actual position value will be saved FosErr Parameter pointer which the posit ion error value will be saved Act Vel Parameter pointer which the actual velocity value will be saved wPos temNo Parameter pointer which current running item number in the Position Table will be saved Return Value FMM OK Command has been normally per formed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS MoveSingleAxisAbsPos library See Also 78 Library for PC Program VerO 79 FAS GetAl IStatus To read 1 0 Input and Output values of the relevant drive the motor Axis Status the motor motion status Syntax int FAS GetAl IStatus BYTE nPortNo BYTE iSlaveNo DWORD dwInStatus DWORD dwOutStatus DWORD dwAxisStatus long CmdPos long lActPos long IPosErr long lActVel WORD wPosltemNo Parameters nPor tNo Port number of relevant drive iSlaveNo Slave number of relevant drive aw nSta
75. orts FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Be careful that dwlOSetMask bit and dwlOCLRMask bit are not duplicated Example include FAS EziMOTIONPIusR h void funclO i BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 DWORD dwlnput dwOutput int nRtn Try to connect if FAS Connect nPortNo 115200 FALSE Connection failed The port is not connected or the baudrate may be wrong return Check 1 0 input nRtn FAS GetlOInput nPortNo iSlaveNo amp dwInput _ASSERT nRtn FMM OK if dwinput amp SERVO IN BITMASK LIMITP i Limit input is ON s ST Library for PC Program Ver6 58 if dwinput amp SERVO IN BITMASK USERINO i User Input O is ON Turning ON Clear Position and User Input 1 inputs and turning off Jog input nRtn FAS SetlOInput nPortNo iSlaveNo SERVO_IN_BITMASK_CLEARPOSITION SERVO IN BITMASK USERIN1 SERVO IN BITMASK PJOG _ASSERT nRtn FMM OK Check 1 0 output nRtn FAS GetlOOutput nPortNo iSlaveNo amp dwOutput _ASSERT nRtn FMM OK if dwOutput amp SERVO OUT BITMASK USEROUTO i User Output O is ON Turn off User Output 1 and 2 signals nRtn FAS SetlOOutput nPortNo iSlaveNo 0 SERVO OUT BITMASK USEROUT1 SERVO OUT BITMASK USEROUT2 _ASSERT nRtn FMM OK Disconnect FAS_Close nPor tNo See
76. osition command run FFLAG ERROVERLOAD Load exceeding the max torque of the motor is loaded more 0X00000800 than 5 seconds FFLAG ERROVERHEAT The internal temperature of the drive exceeds 55 C 0X00001000 FFLAG ERRBACKEMF A counter electromotive force of the motor exceeds 70V 0X00002000 The power supplied to the motor is less t han low limi ted 0X00004000 FFLAG ERRMOTORPOWER value After operation is finished a position error occurs for 0X00008000 FFLAG ERRINPOSITION more than 3 seconds FFLAG_EMGSTOP The motor is under emergency stop 0X000 10000 FFLAG_SLOWSTOP The motor is under general stop 0X00020000 FFLAG ORIGINRETURNING The motor is returning to the origin 0X00040000 FFLAG_INPOS TION Inposition has been finished 0X00080000 FFLAG SERVOO The motor is under Servo ON 0X00100000 FFLAG ALARMRESET AlarmReset has run 0X00200000 FFLAG PTSTOPED Position Table operation has been finished 0X00400000 FFLAG ORIGINSENSOR The origin sensor is ON 0X00800000 The motor operates to z pulse type of origin return 0X01000000 FFLAG ZPULSE operations FFLAG ORIGINRETOK Origin return operation has been finished 0X02000000 FFLAG MOTIONOIR To display the motor operating direction Off On 0X04000000 FFLAG MOTIONING The motor is running 0X08000000 FFLAG MOTIONPAUSE The motor in running is stopped by Pause command OX 10000000 FFLAG_MOT ONACCEL The motor is operating to the acceleration section 0X20000000 FFLAG MOTIONDECEL The motor is operating to t
77. p BYTE nPortNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS MoveSingleAxisAbsPos library See Also 82 Library for PC Program Ver6 83 FAS EmergencyStop To stop the motor without deceleration Syntax int FAS EmergencyStop BYTE nPortNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks This function does not include deceleration phase So the user must be careful so that the machine cannot be impacted Example Refer to FAS_MoveSingleAxisAbsPos library See Also 83 Library for PC Program Ver6 84 FAS MoveOr iginSingleAxis To search the origin of system For more information refer to User Manual Text 9 3 Origin Return Syntax int FAS Moveor iginSingleAxis BYTE nPortNo BYTE
78. p bsPos Return code FMC_CRCFAILED_ERROR 0x07 The packet which received from drive is corrupted Cancel CRC value of communication packet from the drive is not correc t Possibility of noise on communication cable 33 Library for PC Program Ver6 33 FMM INVALID SLAVE NUM Checking the ID value of the drive FMC DISCONNECTED 5 Checking the communication cable FMC TIMEOUT ERROR FMC CRCFAILED ERROR Checking the Library for PC Program Ver6 34 Communication Error A The command is failed Command FAS_MoveSingleAxisAbsPos FMC RECVPACKET ERROR Return code FMC_RECVPACKET_ERROR 0x08 Received packet is incorrect one The length of received packet is not correct Checking the possibility of noise on communication cable FMP FRAMETYPEERROR 0x80 The command returned an error Command FAS_MoveSingleAxisAbsPos Return code FMP_FRAMETYPEERROR 0x80 The drive cannot recognize the command Drive do not recognize the command or wrong command is sended Checking the command value that you want to send to the drive ommunication Error FMP DATAERROR The command returned an error Command FAS MoveSingle amp xis amp bsPos Return code FMP DATAERROR 0x81 Input data is out of the range The value of the sended data is out of the proper range for drive Checking the value that you want to send to the drive Communicatio
79. put 0 0x0000 1000 User Output 5 0x00 100000 ACK 0x00000020 PT Output 1 0x00002000 User Output 6 0x00200000 END 0x00000040 PT Output 2 0x00004000 User Output 7 0x00400000 AlarmBl ink 0x00000080 User Output 0 0x00008000 User Output 8 0x00800000 Example 1 Sending data to turn ON the User Output 5 port 4 bytes 4 bytes 1 0 set mask value 1 0 clear mask value 0x00100000 0x00000000 Example 2 Sending data to turn OFF the User Output 5 port 4 bytes 4 bytes 1 0 set mask value 1 0 clear mask value 0x00000000 0x00100000 1 2 4 Bit setup of Input pin This displays the detailed description for 0x21 Frame type This command is applicable to 32 signals in the control input port The user can use signals for test as if they are inputted without actual input signal The following table shows bit mask values by each signal Relevant Relevant Relevant Relevant SUIS Bit PIU Bit a Bit Signal Name Bit Name Position Name Position Name Position Position Limit 0x00000001 PT A4 0x00000100 AlarmReset 0x00010000 JPT input 2 0x01000000 Limit 0x00000002 PT A5 0x00000200 Ser voON 0x00020000 JPT Start 0x02000000 Origin 0x00000004 PT A6 0x00000400 Pause 0x00040000 User Input O 0x04000000 C M 0x00000008 PT A7 Ox00000800 Org Search 0x00080000 User Input 1 0x08000000 PT PT AO 0x00000010 Siri 0x0000 1000 Teaching 0x00100000 User In
80. put 2 0x10000000 c PT A1 0x00000020 Stop 0x00002000 E stop 0x00200000 ser Input 3 0x20000000 PT A2 0x00000040 Jogt 0x00004000 JPT input 0x00400000 ser Input 4 0x40000000 PT A3 0x00000080 Jog 0x00008000 JPT input 1 0x00800000 User Input 5 0x80000000 c Example 1 Sending data to turn ON the Pause port 26 Communication Protocols ERES 4 bytes 4 bytes 1 0 set mask value 1 0 clear mask value 0x00040000 0x00000000 Example 2 Sending data to turn OFF the Pause port 4 bytes ytes 1 0 set mask value 1 0 clear mask value 0x00000000 0x00040000 1 2 5 Bit setup of Status Flag Refer to mot ion def ine h of include files It can be applied under the Firmware version of 06 03 043 8 Relevant Bit Name of Flag Define Contents RT Position FFLAG ERRORALL One or more error occurs 0X00000001 FFLAG HWPOSILMT direction limit sensor turns ON 0X00000002 FFLAG HWNEGALMT direction limit sensor turns ON 0X00000004 FFLAG SWPOGILMT direction program limit is exceeded 0X00000008 FFLAG SWNEGALMT direction program limit is exceeded 0X00000010 reser ved 0X00000020 FFLAG POSCNTOVER Position error is higher than Pos Tracking Limit 0X00000040 value dur
81. put port is set Set lOI nput Sending 8 bytes 4 bytes 4 bytes 0 set mask value 1 0 clear mask value hen specific bit of the set mask is 1 the relevant input port signal 0x21 is set to ON 33 hen specific bit of the clear mask is 1 the relevant input port signal is set to OFF For more information refer to 1 2 4 Bit setup of Input Pin Response 1 byte 1 byte Communication status a 12 Communication Protocols E NEM FAS Current input signal status of the control input port is read Get IOInput Sending 0 byte 0x22 Response 5 byte 34 1 byte 4 bytes Communication status Input status value Relevant bit by each input signal refer to 1 2 4 Bit setup of Input Pin FAS Current output signal status of the control output port is read Get lO0utput Sending 0 byte Response 5 byte 0x23 1 byte 4 bytes 35 Communication status Output status value Relevant bit by each output signal refer to 1 2 3 Bit setup of Output Pini FAS To assign control 1 0 signals to the pin of CN1 port and set the signal Set OAssignMap level By running FAS_SaveAl Parameters you can save the setting value to the ROM Sending 6 bytes 1 byte 4 bytes 1 byte 1 0 number 1 0 pin masking data Setting level net 1 0 number O 11 corresponds to Limitt Limit Org INf
82. r f low 15 FAS To request to stop running the motor MoveStop Sending 0 byte 0x31 Response 1 byte 49 1 byte Communication status FAS_ To request the running motor to stop emergently Emer gencyStop Sending 0 byte 0x32 Response 1 byte 50 1 byte Communication status FAS To request the motor to return to the origi n at the current setting MoveOr iginSingleAxis parameter condition 0x33 Sending 0 byte 51 Response 1 byte 1 byte Communication status 15 Communication Protocols E NENNEN FAS MoveSingleAxisAbsPos To request the motor to move its position as much as the absolute value pulse Sending 8 bytes 4 bytes 4 bytes 0x34 Absolute position value Running speed pps 52 Response 1 byte 1 byte Communication status FAS To request the motor to move its position as much as the incremental MoveSingleAxisIncPos value pulse Sending 8 bytes 0x35 4 bytes 4 bytes 53 m position Rumningsp sd fons Response 1 byte 1 byte Communication status FAS To request the motor to start limit motion at the current setting MoveToL imit parameter condition 0x36 Sending 5 bytes 4 bytes byte 54 Running speed pps Running direction 0 Limit 1 tLimit Response 1 byte 1 byte Communication status FAS
83. rent library and program exist folder Example include FAS EziMOTIONPIusR h void funcEnableLog i BYTE nPortNo 1 COMM Port number Log output FAS EnableLog TRUE if IFAS SetLogPath T C WWLogsW C WLogs folder exist i Log path does not exist Return All Log output is stored in C WLogs folder Try to connect if FAS Connect nPortNo 115200 FALSE i Connection fail cab be different Port or different Baudrate return Close connect FAS_Close nPor tNo See Also FAS EnableLog 45 Library for PC Program Ver6 46 2 4 Parameter Control Function Function Name Descr iption Current parameters are saved to the ROM Even after the drive is powered OFF parameters related to operating speed acceleration deceleration time and origin return need to be preserved The designated parameter is saved to the RAM Specific parameter is saved The designated parameter is read from the RAM Specific parameter is read The designated parameter is read from the ROM FASES TUNES Specific parameter is read from the ROM FAS_SaveAl IParameters FAS SetParameter FAS_GetPar ameter 46 Library for PC Program Ver6 47 FAS SaveAI IParameters All parameters edited up to now amp assign status of In Out signals are saved in the ROM area Syntax Int FAS SaveAl IParameters BYTE nPortNo BYTE iSlaveNo P
84. rr idePos Parameters nPor tNo Port number of relevant drive iSlaveNo Slave number of relevant drive Overr idePos Absolute coordinate position value to be changed Return Value FMM OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks 1 If the target position is set to the farther coordinate than the orig inal target position while the motor moves to the accelerated or uniform velocity the motor moves to the velocity pattern until then and stops the target position Speed 1 Position Override Time 2 If the target position is changed while the motor is decelerated it is again accelerated up to the uniform velocity and then stops to the target position Speed Position Override Time t 90 Library for PC Program Ver6 91 3 If the changed target position is set to the closer coordinate than the original target position the motor move to the changed target position Speed Position Override T Example Refer to FAS_MoveSingleAxisAbsPos library See Also FAS_Posit ion ncOverr ide 91 Library for PC Program Ver6 92 FAS PositionlIncOverr ide To change the incremental position value set while the motor moves to the incremental position Syntax int FAS PositionIncOverr ide BY
85. signated PT number 0x64 2 bytes 100 PT Number 0 255 Response 1 byte 1 byte Communication status FAS To read one of PT values in the RAM of the drive PosTableReadOneltem Sending 4 byte 2 byte 2 byte Ox6A PT Number 0 255 Offset value 0 40 106 Refer to 1 2 6 Position Table Item for Offset value Response 5 byte 1 byte 4 byte Communication status Relevant one of PT value FAS To save one of PT values to the RAM of the drive PosTableWr iteOneltem Sending 8 byte 2 byte 2 byte 4 byte 0x68 PT Number 0 255 Offset value 0 40 Relevant one of PT value 107 Refer to 1 2 6 Position Table Item for Offset value Response 2 byte 1 byte 1 byte Communication status Command performing status values except 0 complete 0 error FAS To request push motion maintain specified motor torque MovePush Command This function is worked only with Ezi SERVO PR MI and MC 28VA cylinder Sending 28 bytes 4 byte 4 bytes 4 byte 2 bytes 2 bytes Norma Normal Norma Acce Decel Start speed Move speed Position time time 0x78 2 byte 4 bytes 4 byte 2 byte 120 Push torque Push Push Push mode ratio Move speed Position Refer to User Manual Test 10 6 Push Motion Response 1 byte 1 byte Communication status 23 Communication Protocols EE
86. tus Parameter pointer which the 0 input value will be saved awoutStatus Parameter pointer which the 0 output value will be saved awAx isStatus Parameter pointer which the axix status value of the relevant motor will be saved CmdPos Parameter pointer which the command position value will be saved ActPos Parameter pointer which the actual position value will be saved PosEr r Parameter pointer which the position error value will be saved ActVel Parameter pointer which the actual velocity value will be saved wPos I temNo Parameter pointer which current running item number in the Position Table will be saved Return Value FMM_OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS MoveSingleAxisAbsPos library See Also FAS GetAxisStatus FAS GetMotionStatus 79 Library for PC Program VerO 80 FAS GetAxisStatus To read the motor Axis Status value For status Flag refer to 1 2 Structure of Frame Type Syntax int FAS_GetAxisStatus BYTE nPortNo BYTE iSlaveNo DWORD dwAxisStatus Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive QWAxisStatus Parameter pointer which the axis status value of the relevant motor Return Value
87. ulseTime Parameters nPor tNo Port number of relevant drive iSlaveNo Slave number of relevant drive bStartTrigger Output start stop command 1 start O stop long StartPos Output start position pulse DWORD awPer iod Period of output signal pulse DWORD awPulseTime Width of output signal msec Return Value FMM OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port FMM INVALID PARAMETER NUM wltemNo is out of range Remarks Example See Also FAS TriggerOutput Status 115 Library for PC Program Ver6 116 FAS TriggerOutput Status To check if the trigger output is working or not Syntax int FAS TrggerOutput Status BYTE nPortNo BYTE iSlaveNo BYTE bTriggerStatus Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive bTriggerStatus Current status of signal output Return Value FMM_OK Command has been normally per formed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example See Also FAS_ TriggerOutput RunA 116 FAS MovePush Library for PC Program Ver6 117
88. urn To read all status including the current 0 status at one time This function is to combine FAS_Get 0AxisStatus function and FAS_GetMotionStatus function FAS GetAxisStatus To read the running status Flag value of the relevant drive FAS GetMotionStatus FAS GetAl Status 76 Library for PC Program VerO 77 FAS Get OAxisStatus To read I O Input and Output values of the relevant drive and the motor Axis Status Syntax int FAS Get OAxisStatus BYTE nPortNo BYTE iSlaveNo DWORD dwlnStatus DWORD dwOutStatus DWORD dwAxisStatus Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive aw nStatus Parameter pointer which the 0 input value will be saved awoutStatus Parameter pointer which the 0 output value will be saved QWAxisStatus Parameter pointer which the axis status value of the relevant motor will be saved Return Value FMM_OK Command has been normally performed FMM_NOT_OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS MoveSingleAxisAbsPos library See Also FP Library for PC Program Ver6 78 FAS GetMot ionStatus To read the motion status of current motor at one time Syntax int FAS GetMot ionStatus BYTE nP
89. user sets the encoder feedback counter value to the value that he wants Example Refer to FAS_GetActualPos library See Also FAS SetCommandPos 69 Library for PC Program VerO 70 FAS GetCommandPos To read the command position of the current motor Syntax int FAS GetCommandPos BYTE nPortNo BYTE iSlaveNo long CmdPos Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive CmaPos Parameter pointer that command position value will be saved Return Value FMM_OK Command has been normally performed FMM_NOT_OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks To read the position command pulse output counter value Example include FAS EziMOTIONPIusR h void funcDisplayStatus i BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 long Value int nRtn Try to connect if FAS Connect nPortNo 115200 FALSE Connection failed The port is not connected or the baudrate may be wrong return Check position information of Ezi SERVO Plus R nRtn FAS GetCommandPos nPortNo iSlaveNo amp lValue _ASSERT nRtn FMM OK printf CMDPOS d Wn IValue nRtn FAS GetActualPos nPortNo iSlaveNo amp lValue _ASSERT nRtn FMM OK printf A
90. values in the sending Frame are abnormal A pum there is no response from the drive ieee 2 If the communication status isdisplayedto 130 the sizeof response data is byte 10 1 2 Structure of Frame type Ver6 1 2 1 Frame type and Data Configuration 1 The following table displays the conten t and configuration of data by Frame type Communication Protocols E 3 Frame p Library Name Contents Type FAS_ Connected slave type and program version information are required GetSlavelnfo Sending 0 byte Response 1 248 bytes 0x01 1 byte 1 bytes 0 246 bytes 1 Communication ACII string with NULL byte Slave type status strlen 1 byes Slave type 1 Ezi SERVO Plus R ST 20 Ezi STEP Plus R ST 50 Ezi SERVO Plus R MINI FAS Connected motor type and maker information are required GetMotor Info i Sending 0 byte Response 1 248 bytes 0x05 1 byte 1 bytes 0 246 bytes 5 Communication Motor type ACII string with NULL byte status 1 255 strlen 1 byes Motor type refer to 1 1 7 Information of Motors FAS Current setting parameters amp assign of lO signals are saved in the SaveAl IParameters ROM of the drive Even though the drive is powered off saving these must be possible Values set at FAS SetParameter amp FAS SetlOAssignMap are saved 0x10 together 16 Sending 0 byte R
91. vant drive S aveNo Slave number of relevant drive BYTE nPushStatus Status value of push motion refer to 1 2 1 FrameType and Data Configuration Return Value FMM OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected port s FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example See Also FAS Move Push 119 Protocol for PLC Program Mo 3 Protocol for PLC Program alos Next window is open when you click misses icon in User Program GUI installed folder i exe i Next test procedure will help you to understand the protocol programming 1 Servo ON OFF command Connection r Buffer Received Comm Port 77 Header Siv Cmd Stat REFRESH Disconnect Baudrate 115200 Send Buffer UxAA 0xCC 0x00 0x2A 0x01 0x60 UxAF UxAA UxEE 1 Header 2 SlaveNo BYTE Static CHAR Static WORD Static SHORT Static 3 Data DWORD Static LONG Static T reve rives ine 4 CRC 5 Tail CLEAR SEND gt gt The header and tail information is needed for protocol programming Additionally Frame Data Slave ID Frame type Data and CRC is also needed in every protocol with header and tail 1 Insert Comm Port number and click Connect button 2 Header Click Header and you can see OXAA OxCC
92. ve module The drive reads drive type and program version Efe IONS TO Drive type and version information will return The drive reads motor type and maker Motor type and maker information will return The drive checks whether there is the relevant drive When it exists TRUE will return Otherwise FALSE will return FAS GetMotor Info FAS IsSlaveExist FAS EnableLog To select the communication error log function ON OFF When it exists TRUE will return Otherwise FALSE will return FAS SetLogPath To set the saved folder name of error log file When folder exists TRUE will return Otherwise FALSE will return sp Library for PC Program Ver6 38 FAS Connect FAS Connect is the function of connecting Ezi SERVO Plus R Syntax BOOL FAS Connect BYTE nPortNo DWORD dwBaud Parameters nPor tNo Select a serial port to be connected awBaud Input the Baudrate of the serial port Return Value When it is successfully connected TRUE will returns Otherwise FALSE will return Remarks Example include FAS_EZiMOTIONPlusR h void funclnit i BYTE nPortNo 1 COMM Port Number DWORD dwBaudrate 115200 Baudrate Be variable by setting BYTE iSlaveNo 0 Slave No 0 15 char IpBuff 256 int nBuffSize 256 BYTE nType int nRtn Try to connect if FAS Connect nPortNo dwBaudrate FALSE Connection failed Tne port is not connected
93. y nRtn FAS GetParameter nPortNo iSlaveNo SERVO AXISSTARTSPEED amp lParamVal _ASSERT nRtn FMM OK printf Parameter after Start Speed d Wn IParamVal Check the value saved in the ROM nRtn FAS GetROMParameter nPortNo iSlaveNo SERVO AXISSTARTSPEED amp lParamVal _ASSERT nRtn FMM OK You have to check if the command didn t execute correctly printf Parameter ROM Start Speed d Wn IParamVal Edit the parameter value then save it in the ROM nRtn FAS SetParameter nPortNo iSlaveNo SERVO AXISSTARTSPEED 100 _ASSERT nRtn FMM OK You have to check if the command didn t execute correctly nRtn FAS SaveAl IParameters nPortNo iSlaveNo _ASSERT nRtn FMM OK Disconnect FAS_Close nPor tNo See Also FAS_GetRomPar ameter 48 Library for PC Program Ver6 49 FAS SetParameter Edit the relevant parameter value and then save it to the RAM Syntax int FAS SetParameter BYTE nPortNo BYTE iSlaveNo BYTE iParamNo long ParamValue Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive ParamNo Parameter number to be edited FaramVa lue Parameter value to be edited Return Value FMM OK Command has been normally performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iS

User Manual - Koco Motion GmbH

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