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User Manual - Koco Motion GmbH

1. www fastech co kr Communication Protocols FAS_ Request the current running PT number GetPTStatus Sending 0 byte pu Response 5 byte 68 1 byte 4 bytes Communication status Current running PT number PT number 0 255 if there s no running 65535 OxFFFF FAS_ Ezi SERVO Plus R is the closed loop control system so the command SetCommandPos position value is continuously controlled while motor is operating User can set the command position value before it starts and then can check how the command position value is changed 0x50 Sending 4 bytes 80 4 bytes Command position setting count value Response 1 byte 1 byte Communication status FAS_ Request the command position value pulse being tracked GetCommandPos 0x51 Sending 0 byte 81 Response 5 bytes 1 byte 4 bytes Communication status Command position value FAS_ Ezi SERVO Plus R is the closed loop control system so the actual SetActualPos position value is continuously renewed while the motor is operating User can set the actual position value before it starts and then can check how the actual position value is changed 0x52 Sending 4 bytes 82 4 bytes Actual position count value Response 1 byte 1 byte Communication status FAS_ Request the current actual posi
2. FAS_ Set output signal level of the control output port Set 00utput Sending 8 bytes 4 bytes 4 bytes 1 0 set mask value 1 0 clear mask value When specificbit of the set mask is 1 the relevant output port signal 0x20 is set AM a 32 When specific bit of the clear mask is 1 the relevant output port signal is set to OFF For more information refer to 1 2 3 Bit setup of Output Pin Response 1 byte 1 byte Communication status FAS_ Set input signal level of the control input port Set IO Input Sending 10 bytes 5 bytes 5 bytes 1 0 set mask value 1 0 clear mask value When specific bit of the set mask is 1 the relevant input port signal 0x21 is set to ON 33 When 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 FAS_ Current input signal status of the control input port is recognized Get IO Input Sending 0 byte 0x22 Response 6 byte 34 1 byte 5 bytes Communication status Input status value Relevant bit by each input signal refer to 1 2 4 Bit setupof Input Pin FAS_ Current output signal status of the control output port is recognized Get OOutput i Sending 0 byte Response 5 byte 0x23 1 byte 4 bytes 35 Communication status Out
3. H HH Also library files are as follows WHFASTECHWW EZiMOTION PlusR V8WWincludeWWEziMotionPlusR ib WWFASTECHWW EziMOTION PlusR V8WWincludeWWEziMotionPlusR dl 1 A sample program source with using these libraries locate at WWEASTECHWWEZiMOTION PlusR V8WWExamplesWW folder 1 The following table explains values returned when each l ibrary DLL function is used The user can only check the values returned at the library DLL function Low level programming Method does not support following table I tem Definition Returned Description The function has normally per formed the Normal FMM_OK 0 Somen FMM_NOT_OPEN 1 Wrong port number is inputted Input FMM_INVAL D_PORT_NUM 2 The port that is not connected E pe FMM_ INVAL ID SLAVE NUM 3 Wrong slave number is inputted Operation An error occurs while the motor accesses Error FMM_POSTABLE_ERROR 9 to the position table FMC DISCONNECTED 5 The relevant drive is disconnected Connect ion FMC TIMEOUT ERROR 6 Response delay 100 msec occurs Error FMC_CRCFA I LED ERROR 7 Checksum error occurs Protocol level error occurs in packet FMC RECVPACKET ERROR 8 that comes from Drive www fastech co kr Library for PC Program Ver8 2 The following table shows return values included commonly in all libraries and these functions offer to check the result communication status running status judged by the drive
4. Try to connect if FAS Connect nPortNo 115200 FALSE Connection failed The port is not connected or the baudrate may be wrong return Check Axis Start Speed Parameter nRtn FAS_GetParameter nPortNo iSlaveNo STEP AXISSTARTSPEED amp IParamVal if nRtn FMM_OK Command has not been performed properly Refer to ReturnCodes Def ine h _ASSERT FALSE else Parameter value saved in Ezi STEP Plus R printf Parameter before Start Speed d Wn IParamVal www fastech co kr Library for PC Program Ver8 Change Axis Start Speed parameter as 200 then read it again nRtn FAS_SetParameter nPortNo iSlaveNo STEP AXISSTARTSPEED 200 _ASSERT nRtn FMM_OK You have to check if the command didn t execute correctly nRtn FAS_GetParameter nPortNo iSlaveNo STEP 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 STEP AXISSTARTSPEED amp ParamVal _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 STEP AXISSTARTSPEED 100 _ASSERT nRtn FMM_OK You have to check if the command didn t execute correctly
5. FAS_Posi t ionAbsOver r ide To change the absolute position value set while the motor moves to the absolute position Synt ax int FAS PositionAbsQverr ide BYTE nPortNo BYTE iSlaveNo long Overr idePos Parameters nPor tNo Port number of relevant drive SlaveNo Slave number of relevant drive Overr idePos Absolute coordinate position value to be changed Return Value FMM_OK Command has been successfully per formed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remar ks 1 If the target position is set to the farther coordinate than the original target position while the motor moves under acceleration or constant velocity the motor moves to the velocity pattern until then and stops 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 constant velocity and then stops at the target position Speed 1 Position Override Time www fastech co kr Library for PC Program Ver8 3 If the changed target position is set to the closer coordinate than the original target position the motor once stops at the position before changed and then per forms acceleration and deceleration to stop at the changed target position Speed Position Override 1 E
6. FAS GetActualPos To read the actual position value of the motor Syntax int FAS GetActualPos BYTE nPortNo BYTE iSlaveNo long lActPos Parameters nPor ENO Port number of relevant drive S aveNo Slave number of relevant drive ActPos Parameter pointer where the actual position value will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remar ks When the user decides the motor position and checks its actual position this function is generally used Example Refer to FAS_GetCOmmandPosition library See Also FAS_Get CommandPos www fastech co kr Library for PC Program Ver8 FAS_GetPosEr ror To read the position error of the motor Syntax int FAS_GetPosEr ror BYTE nPortNo BYTE iSlaveNo long PosErr DE Parameters nPor tNo Port number of relevant drive S laveNo Slave number of relevant drive PosErr Parameter pointer where the position error value will be saved Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMMINVALID PORT NUM There is no nPort in the connected ports FMMINVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS
7. The second method is sending command characters directly to Ezi SERVO Plus R The user has to prepare low level protocol programming like Protocol Test program and this method is applied when use higher level control unit as like PLC For more programming method details please exercise Protocol Test_PlusR exe is serviced together with GUI Please refer to 3 Protocol for PLC Program www fastech co kr Library for PC Program Ver8 2 Library for PC Program Ver8 2 1 Library Configuration To use this library C header file h and library file lib or dl1 are required These files locate in WWFASTECHWWEZiMOTION PlusR V8WWincludeWW And the following contents should be included in a source file for development include WWFASTECHWW EziMOTION PlusR V8WWincludeWWFAS Ez iMot ionPlusR h include WWFASTECHWW EziMOTION PlusR V8WWincludeWWCOMM_Define h include WWFASTECHWW EziMOTION PlusR V8WWincludeWWMOTION_DEFINE h include WWFASTECHWW EziMOTION PlusR V8WWincludeWWReturnCodes_Define h And include one of next files according to drive type include WWFASTECHWW EziMOTION PlusR V8WWinc UudeWWMOT ON_EziSERVO_DEF NE h nclude WWFASTECHWW EziMOTION PlusR V8WWinc ludeWWMOT ION Ez iSTEP DEFINE h nclude WWFASTECHWW EziMOTION PlusR V8WWinc UdeWWMOT1ON_EziSERVO_ABS_DEFINE h nelude WWFASTECHWW EziMOTION PlusR V8WWincludewWMOTION_EziMot ionLink_DEFINE h
8. nRtn FAS_SaveAl Parameters nPortNo iSlaveNo ASSERT nRtn FMM_OK Disconnect FAS_Close nPor tNo See Also FAS_GetROMPar ameter www fastech co kr Library for PC Program Ver8 FAS_SetPar ameter Edit the relevant parameter value and then save it to the RAM Syntax int FAS_SetPar ameter BYTE nPortNo BYTE iSlaveNo BYTE iParamNo long ParamValue Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Par amNo Parameter number to be edited ParamValue Parameter value to be edited Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMM_INVALID_PARAMETER_NUM There is no parameter of designated iParamNo Remarks The function operates for only one parameter designated Parameters in the drive are saved to 2 memory areas That is when power is off the ROM saves parameters permanently When power is on parameters in the ROM are copied to the DSP RAM and used When the user changes parameters it changes not parameters in the ROM but parameter in the RAM This function is to set the parameter number designated from the RAM to the relevant value Example Refer to FAS_SaveAl Parameter library See Also FAS_GetPar ameter www faste
9. FAS_MoveSingleAxisAbsPos library See Also www fastech co kr Library for PC Program Ver8 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 nPor tNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also www fastech co kr Library for PC Program Ver8 FAS_MoveSingleAxisAbsPos To move the motor to the absolute coordinate value Synt ax int FAS MoveSingleAxisAbsPos BYTE nPortNo BYTE iSlaveNo long lAbsPos DWORD IVelocity Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive AbsPos Absolute coordinate where position to move Velocity Velocity when the motor moves Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Rema
10. There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Speed ee ARE 4 2 P f N3 5 Time 1 In case of change speed lt speed before change the motor reaches to the changed speed through acceleration deceleration using a new velocity pattern 5 In case of change speed speed before change the motor reaches to the changed speed through acceleration deceleration without any new velocity pattern 4 The motor reaches to the speed before change without change of the velocity pattern and then it reaches to the change speed by a new velocity pattern 2 3 After acceleration deceleration is finished the motor reaches to the changed speed corresponding to the velocity pattern of the change speed Example Refer to FAS_MoveSingleAxisAbsPos library See Also www fastech co kr Library for PC Program Ver8 FAS Al IMoveStop To stop all motors that connected in same port Syntax int FAS AI IMoveStop BYTE nPortNo Parameters nPor tNo Port number of relevant drive Return Value No response Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also www fastech co kr Library for PC Program Ver8 FAS Al Emer gencySt op To stop all motors that connected in same port without deceleration Synt ax int FAS_AI lEmergencyStop BYTE nPortNo Parameters
11. When parameter sets as default value motor rotates as one revolution 53 command is incremental move command so once click Send motor will rotate again as same distance 3 Protocol 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 i i 8 CRC Calculation Example on UserManual EziSERVO PlusR _Communicat ion Function www fastech co kr Protocol test Program hly Please note that the specifications are subject to change without notice due to product improvements Copyright 2008 FASTECH Co Ltd All Rights Reserved Mar 17 2010 Rev 08 05 09 www fastech co kr
12. ss SS ESS SSeS SSS SSS SSE www fastech co kr Communication Protocols FAS_ GetAxisStatus Request the Flag value indicates operation status Sending 0 byte Response 5 bytes 0x40 64 1 byte 4 bytes Communication status Status flag value Assigned bit related to each Flag refer to 1 2 5 Bit setup of Status Flad gt FAS_ Request the 0 status and the running Flag status Get OStatus Frame type 0x22 and 0x23 are packed Sending 0 byte 0x41 Response 10 bytes 65 1 byte 5 bytes 4 bytes Communicat ion Input status Output status value status value FAS_ Request the current operation progress status and its Position Table GetMot ionStatus number Frame type 0x51 0x53 0x54 and 0x55 are packed Sending 0 byte 0x42 Response 21 bytes 66 1 byte 4 bytes 4 bytes 4 bytes 4 bytes 4 bytes a Command Actual Position Running Current Communication position Position Difference speed running status value value value value PT number FAS_ Request all data including the current running status GetAl IStatus Frame type 0x41 0x42 and 0x44 are packed Sending 0 byte Response 34 bytes 1 byte 5 bytes 4 bytes 4 bytes Communication Input status Output status Status flag status value value value 0x43 67 4 bytes 4 bytes 4 bytes 4 bytes 4 bytes Actual Position Running Current Command ne f ie position Difference speed running position value value value value PT number
13. 15 BYTE iPinNo BYTE nLogicNo 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 www fastech co kr Library for PC Program Ver3 EO nRtn FAS Get InputAssignMap nPortNo iSlaveNo i amp nLogicNo amp bLevel _ASSERT nRtn FMM_OK if dwlLogicMask IN_LOGIC_NONE printf Input Pin d Logic No d s Wn i nLogicNo bLevel LEVEL_LOW_ACTIVE Low Active High Active else printf Input Pin d Not assignedtin i Assign E Stop Logic Low Active to input pin 3 iPinNo 3 0 11 value is available Caution 0 2 is fixed nRtn FAS_SetInputAssignMap nPortNo iSlaveNo iPinNo STEP_IN_LOGIC_ESTOP 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_GetOutputAssignMap nPortNo iSlaveNo i amp nLogicNo amp bLevel _ASSERT nRtn FMM_OK if dwLogicMask OUT LOGIC NONE printf Output Pin d Logic No d s Wn i nLogicNo bLevel LEVEL_LOW_ACTIVE Low Active High Active else printf Output Pin d Not assignedWn i Assign ALARM Logic High Active to output pin 9 iPinNo 9 0 9 value is avai
14. 2 7 Position Control Function Function Name Descr ipt ion FAS_SetCommandPos To set the command position value FAS_SetActual Pos To set the current position to the actual position value FAS_GetCommandPos To read the current command position value FAS_GetActual Pos To read the current actual position value To read the difference between the actual position value and the FAS_GetPosEr ror eo command position value FAS GetActualVel To read the actual running speed value whi le the motor is moving FAS GlearPosition To set the command position and actual position value to 0 www fastech co kr Library for PC Program Ver3 GG FAS_SetCommandPos To set the command position value of the motor Syntax int FAS SetCommandPos BYTE nPortNo BYTE iSlaveNo long CmdPos Parameters nPor tNo Port number of relevant drive SlaveNo Slave number of relevant drive CmaPos Command position value to be set Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks The user sets the position command pulse output counter value This function is generally used when the user sets the current position to coordinates that customer wants Example include FAS_EZiMOTIONPIusR h v
15. BYTE iSlaveNo WORD wltemNo LPITEM_NODE p tem Parameters nPor ENO Port number of relevant drive S laveNo Slave number of relevant drive wl temNo Item number to be read oltem Item structure pointer which item value is saved Return Value FMM_OK Command has been successfully per formed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the 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_EZiMOTIONPIusR h void funcPosTable BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 WORD wi temNo TEM_NODE node tem 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 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 node tem IPosit ion 260000 Change the position value to 260000 node tem wBranch 23 Set next command to 23 www fastech co kr Library for PC Program Ver8 node tem wCont inuous 1 Next command should be connected without deceleration nRtn FAS_PosTableWriteltem nPortNo iSlaveNo wltemNo amp nodel tem _ASSERT nRtn
16. FAS MoveSingleAxisAbsPosEx To move the motor to the absolute coordinate Syntax int FAS MoveSingleAxisAbsPos BYTE nPortNo BYTE iSlaveNo long AbsPos DWORD IVelocity MOT ION OPTION EX pExOpt ion Parameters nPor ENO 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 pEx0pt ion Custom opt ion 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 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 AX ISSTATUS stAxisStatus long lAbsPos lincPos IVelocity 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 IVelocity 30000 www fastech co kr Library for PC Program Ver8 opt flagOpt ion BIT USE GUSTOMACCEL opt f lagOpt ion BIT USE GUSTOMDECEL Wool i St opt wCustomAccelTime 50 opt wCustomDecelTime 20
17. For more information refer to Syntax int FAS Set OAssi gnMap BYTE nPortNo BYTE iSlaveNo BYTE ilnPinNo BYTE ninLogicNo BYTE bLevel Parameters nPor ENO Port number of relevant drive S aveNo Slave number of relevant drive nPinNo Input Pin number to be read n nlogicNo Logic value to be assigned to the relevant pin bleve Active Level value of the relevant logic Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet Library for PC Program Ver8 1 2 Structure of Frame Type FMM_INVAL D_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 ROM memory should be run Example FAS_Get I nputAss i gnMap Refer to library See Also FAS_SaveA Parameters library FAS_Get InoutAssignMap FAS_GetOutputAssignMap FAS_SetOutputAssignMap www fastech co kr Library for PC Program Ver8 FAS_ SetOutputAssignMap To set Output Assign Map For more information refer to 1 2 Structure of Frame Type Syntax int FAS_Set 10AssignMap BYTE nPor tNo BYTE iSlaveNo BYTE iOutPinNo BYTE nOutLogicNo BYTE bLevel Parameters nPor ENO Port number of relevant drive S aveNo Slave number of relev
18. int FAS AI IMoveSingleAxisIncPos BYTE nPortNo long IncPos DWORD IVelocity Parameters nPor ENO Port number of relevant drive ncPos Incremental coordinate of position to move Velocity Velocity when the motor moves Return Value No response Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also www fastech co kr Library for PC Program Ver3 NT FAS_MoveLinearAbsPos FAS_MoveLinear IncPos To move Linear Interpolation more than 2 motors that connected in same port to the absolute incremental coordinate value Syntax int FAS_MoveLinearAbsPos BYTE nPortNo BYTE nNoOfSlaves BYTE iSlaveNo long lAbsPos DWORD IFeedrate WORD wAccelTime JE Parameters nPor ENO Port number of relevant drive nNoOfrSlaves 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 WAcce Time 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_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 this function is used the Start speed value must be designated to 1 www fastech co kr Library for PC Program Ver8
19. 0x00 Ox24 0x00 Ox6E OxAD OxAA OxEE Baudrate 115200 v Send Buffer OxAA 0xCC 0x00 0x2A 0x01 0x60 0xAF OxAA 0xEE Values 1 Header 0 2 SlaveNo BYTE Static CHAR Static WORD Static SHORT Static 3 Data DWORD Static LONG Static i 1byte _2 bytes A bytes 4 CRC 5 Tail CLEAR SEND gt gt The header and tail information is needed for protocol programming Additionally Frame Data Slave ID Frame type Data and CRC is also needed in each one of protocol with header and tail 1 Insert Comm Port number and Baudrate and click Connect button 2 Header Click Header and you can see OxAA OxCC on Send Buffer window 3 Slave ID Insert your connected slave number above example is 0 and click SlaveNo 4 Sync No Insert some random value ans click 1byte When you repeat the same command Frame type change this value 5 Frame type Select Frame type You can find next table information in 1 2 1 Frame Type and Data Configuration on UserManual EziSERVO PlusR Communication Function about Servo ON OFF command Frame type DLL Library name Data 42 Ox2A FAS Ser voEnab le Setting the Servo ON OFF status Sending 1 byte 1 byte 0 0FF 1 0N Insert 42 in area and click 1 byte because the size of Frame Type is 1 byte 5 Data To make Se
20. CommandP OS sssrin r a essens 69 FAS GetAGt al POSEN 71 FAS GOT ROSENDO han gele Lese ante aeolian dae 72 FAS GOTACTUA VG Ls AN ATR aL a ee 73 FAS Gl Car POS i t iON sneren e heavens aeons EEEE EES 74 2 8 Drive Status Control Function resrvereenvennvnneeneennennennennenneennvnnenneennnnnennenneenennnvenenneenennnenne 75 FAS Get OS Ta tus sneinen cohen nami ils aie dGd ai dn 76 FAS GetMotionStafusk sauser RHE E E A din nelle 77 FAS GOFALIStatuskuaannuades are e aE EE e E E E RE EERE a EES 78 www fastech co kr Communication Protocols FASJGOTAXISStatus unansureaamstkemuasbetn aent 79 PAS _GOTRUNPIStATUSS ceecee nes isee esaea oaar ee ae aaa ea a e oT E E Eaa TR aN EES 80 2 9 Running Control FUNCEION lt csnsosesccesssnresnsssesosenseossenssonsonsessessonsvonsenessseoosnssensevnsossecsensensosnssasecs 81 FASNOVES NS 82 FAS EMNSFGENGySt p aan essknn enken dt suaaieebep 83 FAS MoveOr iG inSi nl CAXiS ceeesessesesesseseseseescecseeesesesececseseeatsesesecaesesacsesececaeeaeateceeeeeaeeetatets 84 FAS_MOVeS i NG AX i SADSPOS ceeesessesesesceseseseeececsesesaesesesecaenesacscsesecaeseaescsececaeeasateceeeesaeeeeaters 85 FAS_MOVES i NG CAX 1 S NCPOS ceeceseeseseseceseseseececsesceaesesesecaesesazseseecaessasscseecaesesatseseeeeaeeeeaters 87 FAS MOVE TOL IM itt ae 88 FAS MOVEVE DE Ve 89 FAS PositionAbsOverride mmervrrerrvrrrerrnverereresersrsvrrrserrsersenrerrernensrsrsrerssensssrssseessrenensenee 9
21. FFLAG ALARMRESET AlarmReset has run 0x00200000 FFLAG PTSTOPED Position Table operation has been finished 0x00400000 FFLAG OR IGINSENSOR The origin sensor is ON 0x00800000 FFLAG ZPULSE The motor operates to z pulse type of origin return operations 0x01000000 FFLAG OR IGINRETOK Origin return operation has been finished 0x02000000 FFLAG MOT OND IR To display the motor operating direction OFF ON 0x04000000 FFLAG MOT I ON ING The motor is running 0x08000000 FFLAG MOT I ONPAUSE The motor in running is stopped by Pause command 0x10000000 FFLAG MOT I ONACGEL The motor is operating to the acceleration section 0x20000000 FFLAG MOT I ONDEGEL The motor is operating to the deceleration section 0x40000000 FFLAG MOT I ONCONST The motor is not unning ag acceleration deceleration but as 0x80000000 constant speed of operation www fastech co kr Communication Protocols 1 2 6 Position Table Item Refer to motion_define h of include files Name of Structure Number of Offset ske Upper Name ae Unit Low Limit ee Parameter Bytes position Limit Position Position 4 signed 0 pulse 134217728 134217728 Low Speed dwStar tSpd 4 unsigned 4 pps 0 500000 High Speed dwMoveSpd 4 unsigned 8 pps 0 500000 Accel Time wAcce Rate 2 unsigned 12 msec 1 9999 Decel Time wDece Rate 2 unsigned 14 msec 1 9999 Command wCommand 2 unsigned
22. 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_PosTableWriteROM nPortNo iSlaveNo _ASSERT nRtn FMM_OK Disconnect FAS_Close nPor tNo See Also FAS_PosTableWr i tel tem www fastech co kr Library for PC Program Ver8 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 Ip tem Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive w temNo tem number to be edited oltem Item structure pointer to be edited Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMC_POSTABLE_ERROR An error occurs while position table is being written FMM_INVAL ID_PARAMETER_NUM wltemNo is out of range Remarks Position Table data is saved to RAM ROM area This function activates to save data to RAM area When power is off data is deleted Example See Also FAS_PosTab eRead tem www fastech co kr Library for PC Program Ver8 FAS_PosTab eWr i teROM To save al
23. Frame When this is not same to sending data need to recognize as the error status Data When simple executive instructions are sent this data cannot be read However in case of response 1 byte is included to the display of communication status error normal status The code by bytes means the Communication status as follows Hexa Decimal Descr ipt ion Code Code 0x00 0 Communication is normal status Frame Type Error De 120 Responded Frame type cannot be recognized Ox8t 129 Data error ROM data read write error Responded data value is aside from the given range Received Frame Error one 180 Received Frame data is out of this specification Running Command Failure The user has tried to execute new running commands in wrong condition as follows 0x85 133 1 currently motor is running 2 currently motor is stopping 3 Servo is OFF status 4 try to Z pulse Origin without external encoder RESET Failure The user has tried to execute new running commands in wrong condition as 0x86 134 follows 1 Servo is ON status 2 Already RESET status by external input signal 0x87 135 Servo ON Failure l While an alarm occurs the user tried to execute Servo ON command Ox88 136 Servo ON Failure l While Emergency Stop occurs the user tried to execute Servo ON command Servo ON Failure Q 0x89 137 ServoON signal is assigned by input signal Servo ON OFF Can execute by external input signal only CRC Error OxAA 170 When
24. Name Position Limit 1 0x00000001 er a4 9 0x00000100 Alarmeset 17 0x0001000 Limit 2 0x00000002 er as 10 0x00000200 servon 18 0x00020000 oe ee aeee Cl PT AO 5 0x00000010 PT Start 0x00001000 Teaching 21 0x00100000 EE 0x00000020 sr ie 0x00002000 E stop 22 0x00200000 PT A2 0x00000040 Jog 0x00004000 JPT inputO 23 0x00400000 prs a oanono on 16 moonmon ier putt er T oxen number User Inputo 27 0x04000000 User Inputt 28 0x08000000 User Input2 29 0x10000000 user Inputa 30 0x2000000 user Input4 31 0x4000000 user Inputs 32 0x8000000 user Input6 38 0x10000000 user Input 34 0x20000000 user Input 35 0x40000000 Example 1 Sending data to turn ON the Pause port 5 bytes 5 bytes 1 0 set mask value 1 0 clear mask value 0x000000040000 0x000000000000 Example 2 Sending data to turn OFF the Pause port 5 bytes 5 bytes 1 0 set mask value 1 0 clear mask value 0x000000000000 0x000000040000 www fastech co kr Communication Protocols 1 2 5 Bit setup of Status Flag Refer to motion_define h of include files Name of Flag Define Contents ee sl Position FFLAG ERRORALL One or more error occurs 0x0000000 1 FFLAG_H
25. Output 0 is ON Turn off User Output 1 and 2 signals nRtn FAS_Set OOutput nPortNo iSlaveNo 0 STEP_OUT_BITMASK_USEROUT1 STEP_OUT_B TMASK_USEROUT2 _ASSERT nRtn FMM_OK Disconnect FAS_Close nPor tNo See Also FAS_Get IO Input www fastech co kr Library for PC Program Ver8 FAS Get IO Input To read 1 0 input values For more information refer to 1 2 Structure of Frame Type Syntax int FAS Get 10Input 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 where input values will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks There are 12 input pins in EziSERVO PlusR The user can select and use 9 input pins of them This function can read the input port status as 32bit All of them are insulated by a photocoupler Refer to the figure FOV 24V R2 Input A GND 24V If voltage from an external input is 24V at Port A the input is recognized to 5V High Example Refer to FAS_SetlOlnout library See Also FAS Set IO Input www fastech co kr Library for PC Program Ver8 FAS_Set 00utput To set 1 0 o
26. Ox3D Slave number must be 99 61 Response no response All slaves does not send response because can not receive response from all slaves simultaneously FAS Al I Request move its position as much as the absolute value pulse SingleAxisAbsPos for all drives that connected in same port Sending 8 bytes Slave number must be 99 Ox3E 4 bytes 4 bytes 62 Absolute position value Running speed pps Response no response All slaves does not send response because can not receive response from all slaves simultaneously www fastech co kr Communication Protocols FAS AI SingleAxis ncPos 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 4 bytes 4 bytes incremental position value Running speed pps Response no response All slaves does not send response because can not receive response from all slaves simultaneously Ox3F 63 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 ER Custom Decel Time Reser ved l 1 9999 Flag ooption 0x0001 reserved 0
27. These functions are available for using ibrary DLL and protocol I tem Descr ipt ion Returned Descr ipt ion Normal FMP_OK 0 Communication has been normally performed Input FMP_FRAMETYPEERROR 128 The drive cannot recognize the command Error FMP_DATAERROR 129 Input data is out of the range The motor is already running or not prepared for FMP_ RUNFAIL 33 running The user cannot execute AlarmReset command FMP_RESETFAIL ee while the servo is ON Operation EMP _SERVOONFAIL1 135 An alarm has occurred ertor FMP_SERVOONFAIL2 136 The motor is under Emergency Stop F ServoON signal is already assigned to input FMP_SERVOONFAIL3 37 pin 7 Protocol level error occurs in packet that Connection FMP_PACKETERROR 30 Drive s received E 4 CRC value is not correct in packet that Drive s For FMP_PACKETCRCERROR 70 Poca ved 2 2 Communication Status Window Above communication status is divided 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 This error cannot be occurred in GUI 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
28. error Command FAS_ServoEnable Return code FMP_SERVOONFAIL3 0x89 The Servo On signal is assigned at external input Servo ON Signal is assigned to external input pin In this case Servo ON command by DLL library does not work 3 Command Execution Error Command Execution Failure tg D The command returned an error Command FAS_PosTableWriteltem 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 www fastech co kr Library for PC Program Ver8 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 be returned Otherwise FALSE will be returned FAS Close The drive tries to disconnect communication with the drive module The drive reads drive type and program version Drive type and version information will be returned Check the existence of the relevant drive FAS IsSlaveExist When it exists TRUE will be returned Otherwise FALSE will be returned FAS GetSlavelnfo www fastech co kr Library for PC Program Ver8 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 number
29. exist Checking the Device Manager window in Window OS This error cannot be occurred in GUI www fastech co kr Library for PC Program Ver8 Communication Error tg FMM INVALID SLAVE NUM T The command is failed Command FAS_MoveSingleAxisAbsPos Return code FMM_INVALID_SLAVE_NUM 0x03 Wrong slave number is inputted Slave number is not exist Checking the ID value of the drive This error cannot be occurred in GUI Communication Error tg T The command is failed Command FAS_MoveSingleAxisAbsPos Return code FMC_DISCONNECTED 0x05 The relevant drive is disconnected COM Port is disconnected during communication Checking the communication cable FMC_DISCONNECTED 5 Or Power of the drive Communication Error X FMC TIMEOUT ERROR D The command is failed Command F S_MoveSingle xis bsPos Return code FMC_TIMEOUT ERROR 0x06 Response delay occurs Cr J ce There is no response from the drive Communication Error X T The command is failed Command FAS_MoveSingleAxisAbsPos Return code FMC_CRCFAILED_ERROR 0x07 The packet which received from drive is corrupted cane CRC value of communication packet from the drive is not correct Checking the FMC CRCFAILED ERROR Possibility of noise on communication cable www fastech co kr Library for PC Program Ver8 Communication Error tg FMC RECVPACKET ERROR A The command is
30. failed Command FAS_MoveSingleAxisAbsPos 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 Communication Error X FMP_FRAMETYPEERROR 0x80 D 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 sent Checking the command value that you want to send to the drive Communication Error FMP_DATAERROR IN The command returned an error Command FAS_MoveSingleAxisAbsPos Return code FMP_DATAERROR 0x81 Input data is out of the range The value of the sent data is out of the proper range of the drive Checking the value that you want to send to the drive Communication Error FMP PACKETERROR The command returned an error Command FAS_MoveSingleAxisAbsPos Return code FMP_PACKETERROR 0x82 The length of received packet on drive is not correct Checking the possibility of noise on communication cable www fastech co kr Library for PC Program Ver8 Communication Error X 1 The command returned an error Command FAS_MoveSingleAxisAbsPos Return code FMP_PACKETCRCERROR 0x44 An error is occured while checking CRC of the packet which drive received FMP_PACKETCRCERROR 0xAA The
31. incorrect CRC value of packet sent to the drive 2 Wrong Command Wrong Command tg D The command returned an error Command F S MoveSingle xisIncPos Return code FMP_RUNFAIL 0x85 Running command failure Refer to communication function manual FMP_RUNFAIL 0x85 Fail on motion command Tried to new motion under following status The motor is already running The motor is under stop command Servo OFF status Try to Z pulse Origin without external encoder for only Ezi STEP Wrong Command tg AN The command returned an error Command FAS ServoAlarmReset 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 Reset status by external input signal www fastech co kr Library for PC Program Ver8 FMP_SERVOONFAIL1 Wrong Command X The command returned an error Command FAS_ServoEnable Return code FMP_SERVOONFAILI 0x87 An alarm has occurred Wrong Servo ON command during Alarm status Wrong Command X FMP_SERVOONFAIL2 D 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 status Wrong Command 3 FMP_SERVOONFAIL3 T The command returned an
32. ion Name Description FAS SaveAl Parameters Save current status of parameters to the ROM Even after the drive is powered OFF parameters related to operating speed acceleration deceleration time return need to be preser ved and origin FAS SetParameter Save designated parameter to the RAM Specific parameter is saved FAS GetParameter Read designated parameter from the RAM Specific parameter is read FAS_GetROMPar ameter Read designated parameter from the ROM Specific parameter is read from the ROM www fastech co kr Library for PC Program Ver8 FAS SaveAl IParameters Save all edited parameters up to now and assigned 0 signals to the ROM area Syntax Int FAS SaveAl Parameters BYTE nPortNo BYTE iSlaveNo Parameters nPor ENO Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Parameter values set to FAS Set lOAssignMap library as well as current parameter values are saved in the ROM Example include FAS_EziMOTIONPIusR h void funcModi fyPar ameter BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 long ParamVal int nRtn
33. mmemerervrrrrervrvrrvrvrrrrrrerrrsrrerersrnsrrererrsrrerersern 29 1 3 Program METNOdssscscessssisdeatsseccceseciecesdssesssnccsecsessesesesasevevsoceseceusesdvaosessedensdsvesesssessdsoasssecessaseees 30 Library SEE ee EL Library CONT gurati OM cssdescescssssiecestessescosestecesdscesensesbucessesesesnasseecessescssusassaccosasssssosessucessnonees 31 Communication Status WINAOW cccccccsssrccserecssssssssscerssserscserecsessssssssssessssessesessssesssssesees 32 Drive Link FUNCTION csccscesdsccslesssccsdesiuwcstsssscbetcssnvsesessacdscdscussslesduesstcsdsessduvdsasstseesesecec sesececeeess 37 Fed ne rer ec rT VP 38 FS 40 FAS GEES I VEINTO eres rasene tub eteren 41 FAS_I SSI DS ES 42 Parameter Control FUNGT ON ussearessssanenssnneensnsnneensnsnnesssenneennsenenensenensnnsnseesnnsnsssennnnessn anne sen 43 www fastech co kr Communication Protocols FAS SaV6Al Parame tet Seinnse a a Ea a EEE E aE a Eaa 44 FAS S tParameteT sis cecacesadieceks snieveeisstsveves Aanstieardieeed a diias EA ERA E Ea ten 46 FAS G tParama ter narrian E EE dende 47 FAS G tROMPAr ame TET sirosis e eae aee eeina AR onan E EErEE ESEA aeS 48 2 5 Servo Control FUunct On eseersevenrenvenennenneneennnnennnnnenennennenesnnnnennennnneenennennsnnenennennenennnenennsnneneen 49 PAS SON VOEMAD Gunner bedrede 50 FAS_Ser VOA Ar MR Se t ccccesscessesesesscsencssesesesecsenesssaesesescencsssesoeseseesesssaeseseceesessseeonsesetseeeaears 52 2
34. nPor ENO Port number of relevant drive Return Value No response Remarks This funct ion does not include decelerat ion phase So the user must be careful so that the machine cannot be impacted Example Refer to FAS_MoveSingleAxisAbsPos library See Also www fastech co kr Library for PC Program Ver3 RG FAS Al IMoveOr iginSingleAxis To search the origin of system for all motor that are connected in same port For more information refer to User Manual Text 9 3 Origin Return Syntax int FAS AI IMoveOr iginSingleAxis BYTE nPortNo Parameters nPor ENO Port number of relevant drive Return Value No response Remarks Example Refer to FAS MoveSingleAxisAbsPos library See Also www fastech co kr Library for PC Program Ver8 FAS_AI IMoveS ing eAx i sAbsPos To move all motors that connected in same port to the absolute coordinate value Syntax int FAS AI IMoveSingleAxisAbsPos BYTE nPortNo long AbsPos DWORD IVelocity Parameters nPor ENO Port number of relevant drive AbsPos Absolute coordinate of position to move Velocity Velocity when the motor moves Return Value No response Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also www fastech co kr Library for PC Program Ver3 RS FAS Al IMoveS ingleAxislncPos To move all motors that connected in same port to the incremental coordinate value Synt ax
35. of iSlaveNo in the relevant port FMM_INVALID_PARAMETER_NUM wltemNo is out of range Remarks If bNextMove value is 0 the itemof wltemNo will be executed If bNextMove value is not 0 the JPTableNo item of the item executed last time will be executed whatever witemNo is The JPTableNo of the item executed last time is empty or FAS PosTableSingleRunltem hasn t executed this function execute nothing when pNextMove is not 0 Example See Also FAS_PosTab eRun tem FAS GetAl IStatus FAS MoveStop FAS Emer gencyStop www fastech co kr Library for PC Program Ver8 FAS PosTab eReadOne I tem To read specific item in the specific position table Syntax int FAS_PosTab eReadOne tem BYTE nPortNo BYTE iSlaveNo WORD wItemNo WORD wOffset long I PosltemVal Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive w temNo Item number to be read Offset offset value which will be read from PT items Refer to 1 2 6 Position Table Item Posl temva Parameter pointer where PT item data value will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMM_INVALID_PARAMETER_NUM wiltemNo is out of range Remarks E
36. received Frame data is error by external noise sending side of DLL Library is automatically try to send 1 more time www fastech co kr Communication Protocols 1 If Header and Slave ID values in the sending Frame are abnormal cati there is no response from the drive C S 2 f the communication status is displayed to 130 the sizeof response data is 0 byte www fastech co kr Communication Protocols 1 2 Structure of Frame type Ver8 1 2 1 Frame type and Data Configuration 1 The following table explains the content and configuration by Frame type of data Frano Library Name Contents Type FAS_ Connected slave type and program version information are required GetSlavelnfo Sending 0 byte Response 71 bytes 1 byte 8 bytes 30 bytes 2 bytes 2 bytes Communication Version Version ee Slave type Motor type status number descr iption 20 byte 2 bytes 2 bytes 2 bytes 2 bytes Monee Input Output er miber I Spare Descr ipt ion number number 0x01 1 Version number and Version Description After connect to slave with UserProgram GUI you can find in Information window of Board List window Slave type 1 Ezi SERVO Plus R series 20 Ezi STEP Plus R series Motor type For manufacturer Motor Description refer to 1 2 7 Information of Motors Input Output number Signal numbe
37. to be connected awBaud Input the Baudrate of the serial port Return Value When it is successfully connected TRUE will be returned Otherwise FALSE will be returned Remarks Example include FAS_EziMOTIONPlusR h void funcInit BYTE nPortNo 1 COMM Port Number DWORD dwBaudrate 115200 Baudrate Be variable by setting BYTE iSlaveNo 0 Slave No 0 15 DRIVE INFO infoDrv int nRtn Try to connect if FAS Connect nPortNo dwBaudrate FALSE Connection failed Tne port is not connected 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 STEP Plus R return nRtn FAS GetSlavelnfo nPortNo iSlaveNo amp infoDrv 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 infoDrv nDriveType printf Wt s Ver d d d d Wn infoDrv sVersion infoDrv nVersionNo 0 infoDrv nVersionNo 1 infoOrv nVersionNo 2 infoDrv nVersionNo 3 www fastech co kr Disconnect FAS_Close nPor tNo See Also FAS_Close www fastech co kr Library for PC Program Ver8 Library for PC Program Ver8 FAS_Close To disconnect the serial port being used Syntax void FAS_Close BYTE nPor tNo Parameters nPor tN
38. 0 nRtn FAS MoveSingleAxisincPosEx nPortNo iSlaveNo IIncPos IVelocity amp opt _ASSERT nRtn FMM_OK Waiting until motioning is done do Sleep 1 nRtn FAS GetAxisStatus nPortNo iSlaveNo amp dwAxisStatus _ASSERT nRtn FMM_OK stAxisStatus 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 dw alue dwAxisStatus while stAxisStatus FFLAG_MOTIONING Disconnect FAS_Close nPor tNo See Also www fastech co kr Library for PC Program Ver8 FAS_MoveSingleAxis ncPosEx To move the Syntax motor to the Incremental coordinate int FAS_MoveSingleAxis ncPos BYTE nPortNo BYTE long DWORD iSlaveNo I IncPos IVelocity MOTION OPT IONLEX IpExOpt ion Parameters nPor tNo Port S aveNo number of relevant drive Slave number of relevant drive ncPos Incremental coordinate of position to move Velocity Velocity when the motor moves pEx0ot on Custom option Return Value FMM_OK Command has been normally performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVA FMM_INVA Remar
39. 0 FAS Posi ti onl NCOVERT LOG s csscss cescescsaessnsnsdsscuscsassonssascoevaccnepsutubarscusssaevbebeazssetsceuasbostzenseustleceae 92 FAS V6 loci TYOVErT TAG ks aieen 93 FASSA LIM VESTOP senda eee deii 94 FAS Al EmergencyStOop mmersernenvrrrrrrrrvrrrrerrenrerererenernrnesrsneneserneneerenenensrnesversnenssernenrsrsrenenssnee 95 FAS Al IMoveOr iginSingleAx iS eeeecsescscssssessesescscecesesesececsesecassesececaesesatscsesecaesaeateeeeseeaeeeaters 96 FAS Al IMoveS ing CAX i SADSPOS csceccsceseseseeseecsceceseseseeecsenesacscsececaeseaeaceesecaesesateeeeesaeeetatees 97 FAS Al IMoveSing CAXiSINCPOS c eeecesceseseesesescseeeeseseseeecseneacecsesecaeseaescsesecaeeaeateceeeecaeeetatees 98 FAS_MoveLinearAbsPos FAS Movel inear INCPOS enrnerererrrsrnrnrnrnrrrsrsevenerrsrrerersrsesenenesenen 99 FAS_MoveS ing AX i SADSPOSEX sseesesescscecesesceseecseseseescsesecsenesaaceeseeaeaeeesaeseseceeaeavateeeeeeeates 100 FAS_MoveS ing CAX 1 S NCPOSEX esseesecesescesesesceceecsesesescsececsenesaeaceeseeacsesenaceesecesaeevateeeeesates 102 FAS_MOVeVe OCT tYEX eeesssscsescssseesesecsencnsenestsescenessssssesesesenssssaesessenesssceasseseesenseseatseseentaees 103 2 10 Position Table Control Function eeseenrseverneeneeneennvnneeneennvnnennennnenennnvenennennvnnenneennennenneen 105 FAS_PoSTab REA tOM eceesescsseceseesesesceeeceseseeeeecseseesesesececassecaescsesecseseateceeceeseeeeataeeetecateees 106 FAS_
40. 0x8341 0x1100 0x3300 OxF501 OxFFO1 0x3900 OxEBO1 0x2000 0x2700 OxE101 0x6300 OxA501 OxAFO1 0x6900 OxBB01 0x7000 0x7700 0xB101 0x9301 0x5500 Ox5F00 0x9901 0x4800 0x8001 0x8701 0x4100 0xD1C1 OxF3G1 0x35C0 Ox3FCO OxF9C1 0x2BC0 OxEDC1 OxE7C1 0x21C0 OxA3C1 0x65C0 Ox6FCO OxA9C1 0x7BCO OxB0C1 0xB7C1 0x71C0 0x5300 0x95C1 0x9FC1 0x59C0 0x8BC1 0x4DC0 0x47C0 0x81C1 0xD081 OxF281 0x3480 Ox3E80 OxF881 0x2A80 OxEC81 OxE681 0x2080 OxA281 0x6480 Ox6E80 OxA881 0x7A80 OxBC81 0xB681 0x7080 0x5280 0x9481 Ox9E81 0x5880 Ox8A81 0x4C80 0x4680 0x8081 0x1040 0x3240 OxF441 OxFE41 0x3840 OxEA41 0x2C40 0x2640 OxE041 0x6240 0xA441 OxAE41 0x6840 OxBA41 0x7C40 0x7640 0xB041 0x9241 0x5440 Ox5E40 0x9841 Ox4A40 Ox8041 0x8641 0x4040 Communication Protocols Fe unsigned short CalcCRC unsigned char pDataBuffer unsigned long usDataLen unsigned char nTemp unsigned short wCRCWord OxFFFF while usDatalen nTemp wCRCWord pDataBuffer wCRCWord gt gt 8 wCRCWord TABLE_CRCVALUE nTemp return wCRCWord X16 X15 X2 1 of CRC 16 18M unsigned short CalcCRCbyAlgor i thm unsigned char pDataBuffer unsigned long usDataLen Use the Modbus algorithm as detailed in the Watlow comms guide const unsigned short POLYNOMIAL O
41. 16 0 9 Wait time wWaitTime 2 unsigned 18 msec 0 600000 Continuous Action wCont inuous 2 unsigned 20 0 1 2 Jump Table No wBranch 2 unsigned 22 2 10000 10255 2 Jump PT 0 wCond branchO 2 unsigned 24 10000 10255 2 Jump PT 1 wCond branchi 2 unsigned 26 g sad 10000 10255 0 255 Jump PT 2 wCond_branch2 2 unsigned 28 10000 10255 Loop Count wLoopCount 2 unsigned 30 0 100 0 255 Loop Jump Table No wBranchAfterLoop 2 unsigned 32 10000 10255 PT set wPTSet 2 unsigned 34 0 15 Loop Counter Clear wLoopCountCLR 2 unsigned 36 0 255 Check Inposition bCheck I npos 2 unsigned 38 0 1 2 Blank 40 0x00 unsigned Please refer to separate manual User Manual Position Table for setting method per each item 1 2 7 Information of Motor First 2 digit of number and 1 2 characters indicate the motor size and length Example 56XL Motor Flange size is 56mm and Extra long size Another part indicates the motor manufacturer information as below Display Manufacture Display Manufacture JS JapanSer vo SD Sanyo Denki POR Por tescap NPM NPM FUL Fulling DI DINGS www fastech co kr Communication Protocols 1 3 Program Method There are 2 method of programming for Ezi SERVO Plus R The first is generally used method with using Visual C language under window system of PC Library that serviced together with Ezi SERVO Plus R have to be used Please refer to 12 Library for PC Program
42. Control 1 0 PUNCH Vvs 53 FAS Set LOL MDUt 0 eeeeccceseseseesescsessecesesececnesceaesesesecaesesascseseeaesesazsesesecaeseeaesesececaeseeaeaeeeeeeseeeatees 54 FAS Get LOL MDUt oe eeeeeecceseseseesesescceseseeesecsesesaesesececsesesasscsesecaenenasacsesecaeseaeaceececaeeeeateeeeeecseeeatees 56 FAS Set OQUt DUE ee eceeseeseeeescseceseseeesecsesesscscsesecaesesacscsesecsenesasacsesecaeseaescsececaesenateeeeecaeeetatees 57 FAS Get OQOUt DUE eee eceeseesceeescseceseseseeecscsesacscsececsesesasscsesecaesenasacsesecaesenasaceececaesenateceeeeeaeetatees 58 FAS Get NDUtTASS ONMAD 00 eeeeeeseseseecescsccesesesececsesesaesesesecaesenaescsesecaeseaeaesececaesesaeeceeeesaeeetaters 59 FAS_GetQUutPUtASS OMMAD eeceeseseseecescsceeesesesececseseaesesesecaesenacscsececaeseaeaceececaeseeaeaceeeecaeeetaters 61 FAS_ Set INDUtASS ONMAD 00 ee eceeeescecescscesesesesececsesesesesesecaesenatscsesecseseeaeacsececaseenaeseeeeesseeeaters 62 FAS_ S tOUTDUTASS 1 OMMAD eceeesescecesescesesesesececsescaesesesecseseaescsesecaesesaeacsececaeseeaeaeeeeesaeeeeaters 63 FAS_ OASS i QNMADREACROM escececessecesesceseseseeececseseesesesesecaeseacscsececaeseacacsececaeseeaeeeeeeeeaeeetatees 64 2 7 POSITION Control FUNCT iOn essesrssvenervennennennnnennnnnenennennenesnnnnennennnnenennennnnnnnennennenesnnenennsnneneen 65 FAS SetGommandPos auanssessasedeseereksbeNermusekesaalkeberse n 66 FAS SOTACTUA POSEN EGNE DEGGGRNS ETG MN ATGGGEENG EGEN 68 FAS Get
43. Ezi SERVO Closed Loop Stepping System with Network based Motion Controller Ezi SERVO i Closed Loop Stepping System User Manual Communication Function Ver8 Rev 08 05 09 Table of Contents 1 Communication ProlorolSauunninsmemsimapaaananbaamnanna O 1 1 Communication FUNCTIONS ssccscccscsssssciseccsasssousccssvescesseccscsssencisonsenessosssncsseesenssescteeesnsosonseassseusen 6 1 1 1 Communication Specifications sreronvrnnnvrnennrnnenvnnenvenenvrnnenrnernrenenvanenvanernrerenresenrerenveene 6 f 1 2 RS 485 Communication Protocol Ver Lum ummst ab unj hbsns 6 I 1 3 CRE Calc kation EX NpPle sksvendounidssnenutkemnidtuikdruntrubisesudt 7 1 1 4 Response Frame Structure and Communication Error Ver8 ose 10 1 2 Structure of Frame type Ver8 ccccscsssssccccsscsssssscccecssssssscecssssssssccsscsssssssccescacsessssecsers 12 1 2 1 Frame type and Data Configuration mm rrrvrvrrrrorrerssrvrvnrssrrrenssrerressssrrenssserreee 12 1 2 2 Parameter Lists mn m rerrnenvrnenenensrnrnvnsrrnrnernsrrnvnrrnersinrnrisririiee 25 1 2 3 Setup bit of OU COUT PIN anseelse a aiiai 26 F 2 4 Setup bit of IMMPAt Pin aksesseres 27 1 2 5 Bit setup Of Status FAO cscs secccesssceccicdccssviecccbsvscccebsxoacdesscocddessaecedascecccssacecdoaauecs 28 1 2 6 Position Table temic eee eeecceeseeeceeceeseeseeeceeeeseesecseceeessecaeseeesessecaeseeeeaeseeneeeees 29 1 2 7 Information of Motor
44. M NOT OPEN The drive has not been connected yet FMMAINVALID PORT NUM There is no nPort in the connected ports FMMAINVALID 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 After ServoON is executed the Command Position value will change as same as Actual Position value to remove Position Error Example include FAS_EziMOTIONPIusR h void funcl0 BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 DWORD dwinput dwOutput int nRtn Try to connect if FAS Connect nPortNo 115200 FALSE Connection failed The port is not connected or the baudrate may be wrong return Check 1 0 input nRtn FAS Get 1OInput nPortNo iSlaveNo amp dwInput _ASSERT nRtn FMM_OK if dwinput amp STEP_IN_BITMASK_LIMITP Limit input is ON if dwinput amp STEP_ N_B TMASK_USERINO User Input O is ON www fastech co kr Library for PC Program Ver8 Turning ON Clear Position and User Input 1 inputs and turning off Jog input nRtn FAS_Set Olnput nPor tNo iSlaveNo STEP_IN_BITMASK_CLEARPOSITION STEP_IN_BITMASK_USERIN1 STEP_IN_BITMASK_PJOG _ASSERT nRtn FMM_OK Check 1 0 output nRtn FAS_Get O0utput nPortNo iSlaveNo amp dwOutput _ASSERT nRtn FMM_OK if dwOutput amp S
45. MOTIONING Move the motor to 0 AbsPos 0 IVelocity 20000 nRtn FAS MoveSingleAxisAbsPos nPortNo iSlaveNo lAbsPos IVelocity _ASSERT nRtn FMM_OK Stand by until motion command is completely finished do Sleep 1 nRtn FAS GetAxisStatus nPortNo iSlaveNo amp dwAxisStatus _ASSERT nRtn FMM_OK stAxisStatus dwvalue dwAxisStatus while stAxisStatus FFLAG_MOTIONING Disconnect FAS_Close nPor tNo See Also www fastech co kr Library for PC Program Ver8 FAS MoveSingleAxislncPos To move the motor to the incremental coordinate value Syntax int FAS_MoveSingleAxis ncPos BYTE nPortNo BYTE iSlaveNo long IncPos DWORD IVelocity Parameters nPor ENO Port number of relevant drive S aveNo Slave number of relevant drive ncPos Incremental coordinate where position to move Velocity Velocity when the motor moves Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remar ks Example Refer to FAS_MoveSingleAxisAbsPos library See Also www fastech co kr Library for PC Program Ver8 FAS_MoveToL imi t To give the motor a command to search the limit sensor Syntax int FAS MoveToLimit BYTE nPortNo BYTE iSlaveNo DWO
46. PosTableWr i te COM ceccesecessesesescseseseseeseecseensesesececsesenaesesececaenenataceeceeaeeecataeeeeeeaeeees 108 FAS_PosTab Wr i t ROM ceccccesesesseseseccscecesescescecseseaescsececaeseacscsececaeseeataceecesaesesataeeeeeeaeeees 109 FAS_PosTab CREAGROM ecececesceseseesesesescecesescsecececseesesesesecsesesacscsececaescaeaesececaeeeeateeeeeesaeeeeaees 110 FAS_PosTab RUN tOM eceeececessesesessesescseeeesesesececsescaesesesecsesesacscsececaeeceasacsececaesesaeeeeceeseeeeaees 111 FAS_PosTab leSi ng RUN tem eeceecesescssscesessescsescecesesescecseeecsesesececseseeseaesececaeseesteceeeeeaeeeeaees 112 FAS_PosTab eReadOne tem eceesessecescssssesescescecscecesesesesecsesesaescsececaesceaeacsececaeeeeateeseeeeaeeeaees 113 www fastech co kr Communication Protocols FAS_PosTableWr i teOne tem ee cece ecsecesseecssecesseecssecesseecasecesseecaecesseecascessevenasensaes 114 3 Protocol test Progi Gllecesccesceiceacscaccccesceatisescincadedeescckicasecuaeaesvecsetsdacciuceesteanscuicaasienedens 115 www fastech co kr 1 Communication Protocols 1 1 Communication Functions Communication Protocols SSI Ezi SERVO Plus R can control up to 16 axes b y daisy chain link at RS 485 two wire Pay attention that when serial communication is communication recovered from standby mode This is also applicable to the library provided Windows goes into standby or power save mode basic
47. RD IVelocity int iLimitDir Parameters nPor ENO Port number of relevant drive S aveNo Slave number of relevant drive Velocity Velocity when the motor moves iLimitDir Limit direction of the motor moves 0 Limit 1 Limit Return Value FMM_OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMMINVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also www fastech co kr Library for PC Program Ver3 NET FAS MoveVelocity To move the motor to the relevant direction and velocity This function is available for Jog motion Syntax int FAS MoveVelocity BYTE nPortNo BYTE iSlaveNo DWORD IVelocity int iVelDir Parameters nPor ENO Port number of relevant drive S aveNo Slave number of relevant drive Velocity Velocity when the motor moves VelDir Direction when the motor moves 0 Jog 1 Jog Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also www fastech co kr Library for PC Program Ver3 RO
48. Refer to FAS_MoveSingleAxisAbsPos library See Also www fastech co kr Library for PC Program Ver3 FEO FAS_GetRunPTStatus To read the Position Table number that running currently Syntax int FAS_GetRunPTStatus BYTE nPortNo BYTE iSlaveNo WORD wPTStatus Parameters nPor tNo Port number of relevant drive iSlaveNo Slave number of relevant drive wPTStatus Variable pointer that can be save the number of PT running Return Value FMMLOK SSO ANSE SHE AS LU CH FMM_NOT_OPEN OFA Board S AAH A YUC FMM_INVALID_PORT_NUM H2S Port SUI nPort EWOH RSuc FMM_INVALID_SLAVE_NUM oH amp Port Al iSlaveNo S Slave W BSL Remarks Example Refer to FAS MoveSingleAxisAbsPos library See Also www fastech co kr Library for PC Program Ver8 2 9 Running Control Function Funct ion Name Descr ipt ion FAS MoveStop Stop the motor in running with deceleration FAS Emer gencyStop Stop the motor in running immediately without deceleration FAS MoveOr iginSingleAxis Start operation to return origin FAS MoveSingleAxisAbsPos The motor moves as much as the given absolute position value FAS MoveSingleAxislncPos The motor moves as much as the given incremental position value FAS_MoveToL imi t The motor moves up to the position where the limit sensor is detected FAS_MoveVe locity The motor moves to the given velocity and direction Thi
49. S_ To save Position Table values to the RAM of the drive PosTableWr iteltem 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 Comunication stais Command per forming status values except 0 complete 0 error www fastech co kr Communication Protocols FAS_ Read all Position Table values 256 ea in the ROM of the drive PosTab eReadROM 0x62 Sending 0 byte 98 Response 2 bytes 1 byte 1 byte Communication status Command par FOr ng Statur 0 complete values except 0 error FAS_ Save all Position Table 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 comand per torming status 0 complete values except 0 error FAS_ Start the position table operation from the designated Position PosTab eRun I tem Table number Sending 2 bytes oe 2 bytes 100 PT Number 0 255 Response 1 byte 1 byte Communication status FAS_ Start the specific only one position table operation that is PosTableSingleRunlte designated Position Table number m Sending 3 bytes 0x68 1 byte 2 bytes 104 Select Jump function 0 No Jump 1 Jump PT Nu
50. TEP OUT BITMASK USEROUTO User Output 0 is ON Turn off User Output 1 and 2 signals nRtn FAS_Set OOutput nPortNo iSlaveNo 0 STEP_OUT_BITMASK_USEROUT 1 STEP_OUT_B I TMASK_USEROUT2 _ASSERT nRtn FMM_OK Disconnect FAS_Close nPor tNo See Also FAS Ser voA armReset www fastech co kr Library for PC Program Ver8 FAS_Ser voAlarmReset To send AlarmReset command Syntax int FAS_ServoAlarmReset BYTE nPortNo BYTE iSlaveNo Parameters nPor ENO Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been successfully per formed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Before sending this command troubleshoot root cause of the alarm For alarm cause refer to User Manual_Text Example Refer to FAS_ServoEnable library See Also FAS_Ser voEnab le www fastech co kr Library for PC Program Ver8 2 6 Control 1 0 Function Function Name Descr iption To set the input signal level of the control input port Set input signal ON or OFF status To read the current input signal status of the control input port The signal status returns by bit for each input signal To set the output signal level of the control input port Set o
51. Ver3 TN FAS GetCommandPos To read the command position of the current motor Syntax int FAS GetCommandPos BYTE nPortNo BYTE iSlaveNo long CmdPos Parameters nPor ENO Port number of relevant drive S aveNo Slave number of relevant drive CmdPos Parameter pointer that command position value will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks To read the position command pulse output counter value Example include FAS_EZiMOTIONPIusR h void funcDisplayStatus BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 long IValue 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 STEP Plus R nRtn FAS GetCommandPos nPortNo iSlaveNo amp lValue _ASSERT nRtn FMM_OK printf CMDPOS d Wn IValue nRtn FAS_GetActualVel nPortNo iSlaveNo amp IValue _ASSERT nRtn FMM_OK printf ACTVEL d Wn IValue Disconnect FAS_Close nPor tNo See Also www fastech co kr Library for PC Program Ver8 FAS_GetActualPos www fastech co kr Library for PC Program Ver8
52. WPOS LMT direction limit sensor turns ON 0x00000002 FFLAG_HWNEGALMT direction limit sensor turns ON 0x00000004 FFLAG SWPOG I LMT direction program limit is exceeded 0x00000008 FFLAG SWNEGALMT direction program limit is exceeded 0x000000 10 reser ved 0x00000020 FFLAG_ERROVERCURRENT The motor driving device is under over current 0x00000040 FFLAG_ERROVERSPEED The motor speed exceeded 3000 rpm 0x00000080 FFLAG_ERRPOSTRACKING The motor is not tracked normally by pulse input 0x00000100 FFLAG ERROVERLOAD Load exceeding the max torque of the motor is loaded more than 0x00000200 5 seconds FFLAG_ERROVERHEAT The internal temperature of the drive exceeds 55 C 0x00000400 FFLAG ERRBACKEMF A counter electromotive force of the motor exceeds 70V 0x00000800 FFLAG_ERRMOTORCONNECT Power is ON without connection of motor cable to drive 0x0000 1000 FFLAG_ERRENCCONNECT Cable connection error with Encoder connector in drive 0x00002000 FFLAG_ERRMOTORPOWER The power supplied to the motor is less than low limited value 0x00004000 FFLAG_ERRINPOSITION After operation is finished a position error occurs for more 0x00008000 than 2 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 IT ION nposition has been finished 0x00080000 FFLAG SERVOON The motor is under Servo ON 0x00100000
53. _GetCOmmandPosition library See Also FAS_GetCommandPos FAS GetActualPos www fastech co kr Library for PC Program Ver8 FAS_GetActual Vel To read the actual velocity of the motor Syntax int FAS_GetActual Vel BYTE nPor tNo BYTE iSlaveNo long ActVel Parameters nPor tNo Port number of relevant drive SlaveNo Slave number of relevant drive ActVe Parameter pointer where the actual velocity value will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_GetCOmmandPosition library See Also www fastech co kr Library for PC Program Ver8 FAS_ClearPosi tion To set the command position value and actual position value of the motor to 0 Syntax int FAS_ClearPosi t ion BYTE nPortNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks The user sets the position command pulse output counter valu
54. ally disconnected When the system is it should be connected again with serial 1 1 1 Communication Specifications Speci f ication RS 485 3 y Synchronous Communication Type Half duplex Baudrate bps 9600 19200 38400 57600 115200 230400 460800 92 1600 Data Type 8bit Binary Parity No Stop Bit bit CRC Check Yes Max Cabling Length Converter lt gt Drive 30 m Min Cable length between drive More than 60 cm Number of Connected Axes 16 axes No 0 F 1 1 2 RS 485 Communication Protocol Ver8 Thers are 2 kinds of program version for SE Version 8 level RVO Plus R This manual support for 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 0XX 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 Plus R GUI Version 8 1 1 559 rev 778 Supported firmware version 1 Ezi SERVO Plus R ST 2 Ezi STEP Plus R ST x menu VOB VOB Copyright C 2008 FASTECH Co Ltd www fastech co kr Communication Protocols 1 Overview of communication FRAME PC Communicat ion Ezi SERVO Port fn Plus R Response Frame 2 Basic structure of Frame Header Frame Data Tai I O
55. ant drive OutPinNo Input Pin number to be read nOutLogicNo Logic value to be assigned to the relevant pin bleve Active Level value of the relevant logic Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMM_INVAL ID_PARAMETER_NUM Designated ilOPinNo or nlOLogic value is out of range Remarks To save current setting values to the ROM memory FAS_SaveAl Parameters library should be run Example Refer to FAS_GetInputAssignMap library See Also FAS_Get InputAssignMap FAS_GetOutputAssignMap FAS SetOutputAssignMap www fastech co kr Library for PC Program Ver8 FAS 10Ass i gnMapReadROM To load the status of CN1 assignment 1 0 setting status and signal level in ROM area Synt ax int FAS PosTableReadrROM BYTE nPortNo BYTE iSlaveNo Parameters nPor ENO Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example See Also FAS_ Get IOAss i gnMap www fastech co kr Library for PC Program Ver8
56. b eWr i teROM www fastech co kr Library for PC Program Ver8 FAS_PosTab eRun tem To perform command from a specific item in the position table Syntax int FAS PosTableRunltem BYTE nPortNo BYTE iSlaveNo WORD wl temNo Parameters nPor ENO Port number of relevant drive S aveNo Slave number of relevant drive wl temNo Item number to start motion Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMM_INVAL ID_PARAMETER_NUM wltemNo is out of range Remarks Example See Also FAS GetAl Status FAS MoveSt op FAS Emer gencyStop www fastech co kr Library for PC Program Ver8 FAS PosTableSingleRunltem To perform command of a specific item in the position table Syntax int FAS PosTableSingleRunltem BYTE nPortNo BYTE iSlaveNo BOOL bNextMove WORD wl temNo Parameters nPor ENO Port number of relevant drive S aveNo Slave number of relevant drive bNextMove Flag whether runs the next step or runs the step of wltemNo w temNo Item number to execute motion Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive
57. ch co kr Library for PC Program Ver8 FAS GetParamater To call specific parameter value of the drive Syntax int FAS_GetPar ameter BYTE nPor tNo BYTE iSlaveNo BYTE iParamNo long ParamValue Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Par amNo Parameter number to be brought Par amVa lue Parameter values Return Value FMM_OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMM_INVALID_PARAMETER_NUM There is no parameter of designated iParamNo Remarks The function operates for only one parameter designated Parameters in the drive are saved to 2 memory areas That is when power is off the ROM saves parameters permanently When power is on parameters in the ROM are copied to the DSP RAM and used When the user changes parameters it changes not parameters in the ROM but parameter in the RAM This function reads the parameter number designated to the RAM Example Refer to FAS_SaveAl Parameter library See Also FAS_SetPar ameter www fastech co kr Library for PC Program Ver8 FAS_GetROMPar ameter To call parameters saved in the ROM Syntax int FAS_GetROMPar ameter BYTE nPor tNo BYTE iSlaveNo BYTE iParamNo long IROMParam Param
58. different acc dec time FAS_MoveSingleAxislIncPosEx IVelocity 30000 opt f lagOpt ion BIT USE GUSTOMAGGDEG 1 opt wCustomAccDecTime 300 www fastech co kr Library for PC Program Ver8 nRtn FAS_MoveVelocityEx nPortNo iSlaveNo IVelocity DIR_INC amp opt _ASSERT nRtn FMM_OK Sleep 5000 FAS MoveStop nPortNo iSlaveNo See Also www fastech co kr Library for PC Program Ver8 2 10 Position Table Control Function Function Name Descr iption FAS_PosTab eRead tem To read items of RAM area in the specific position table FAS PosTableWr i tel tem To save specific all items of position table 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 FAS PosTab elr i t eROM FAS_PosTab eReadROM FAS PosTab I eRun I tem in sequence FAS PosTableSingleRunltem To perform command of a specific item in the position table FAS PosTab eReadOne I tem To read items of RAM area in the specific one item of position table FAS_PosTableWriteOneltem To save specific item of specific position table to RAM area www fastech co kr Library for PC Program Ver8 FAS_PosTab eRead tem To read a specific item in the position table Syntax int FAS PosTableReadltem BYTE nPortNo
59. e This function is generally used when the user sets the current position to initial values Example include FAS_EZiMOTIONPIusR 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 The port is not connected or the baudrate may be wrong return Initialize Command Position and Actual Position values to 0 nRtn FAS_ClearPosition nPortNo iSlaveNo _ASSERT nRtn FMM_OK Disconnect FAS_Close nPor tNo See Also FAS_SetActua Pos www fastech co kr Library for PC Program Ver8 2 8 Drive Status Control Function Function Name Descr iption To read control 0 status running status Flag value The current input status value the output setting status value and the running status Flag value will be returned To read the current running progress status and its PT number The command position value the actual position value the speed value will be returned To read all status includes the current 0 status at one time This function is to combine FAS_GetlOAxisStatus function and FAS_GetMotionStatus function FAS_GetAxisStatus To read the running status Flag value of the relevant drive FAS_Get OStatus FAS_GetMot ionStatus FAS GetAl IStatus FAS GetRunPTStatus To read the PositionTable n
60. eter condition Sending 0 byte Response 1 byte 1 byte Communication status www fastech co kr Communication Protocols 0x34 52 FAS_ MoveSingleAxisAbsPos Request the motor to move its position as much as the absolute value pulse Sending 8 bytes 4 bytes Absolute position value 4 bytes Running speed pps Response 1 byte 1 byte Communication status 0x35 53 FAS_ MoveSingleAxislncPos Request the motor to move its position as much as the incremental value pulse Sending 8 bytes 4 bytes Incremental value Response 1 byte Communication status 4 bytes osition p Running speed pps 1 byte 0x36 54 FAS_ MoveToL imi t Request the motor to start limit motion under current setting parameter condition Sending 5 bytes 4 bytes Running speed pps Response 1 byte 1 byte Communication status 1 byte Running direction 0 Limit 1 tLimit 0x37 55 FAS_ MoveVe locity Request the motor to start jog mot ion at the current sett ing parameter condition Sending 5 bytes 4 bytes Running speed pps Response 1 byte 1 byte Communication status Running direction 0 Jog 1 Jog 0x38 56 FAS_ Posi t ionAbsOverr ide Request the motor to change the target absolute position value pulse while it is in
61. eters nPor ENO Port number of relevant drive S aveNo Slave number of relevant drive Par amNo Parameter number to be brought I ROMPar am Parameter values saved in the ROM Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMM_INVAL ID_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_SaveAl Parameter library See Also FAS SaveAl IParameters www fastech co kr Library for PC Program Ver8 2 5 Servo Control Function Function Name Descr ipt ion FAS Ser voEnable Servo ON OFF of the designated drive Release alarm of the drive generated alarm Troubleshoot root cause of the alarm prior to use this function FAS Ser voAlarmReset www fastech co kr Library for PC Program Ver8 FAS Ser voEnable Servo ON OFF of the drive Syntax int FAS ServoEnable BYTE nPortNo BYTE iSlaveNo BOOL bOnOf f Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant bOnO Ff Enable or Disable Return Value FMM_OK Command has been successfully performed FM
62. forming status Communication status A 0 complete values except 0 error FAS_ Set ON OFF status Ox2A 42 Ser voEnab le Sending 1 byte 1 byte 0 0FF 1 0N After ServoON is executed the Command Position value will change as same as Actual Position value to remove Position Error 1 byte Communication status Response 1 byte www fastech co kr Communication Protocols 0x2B 43 FAS_ Ser voAlarmReset Reset Servo alarm status Sending 0 byte Response 1 byte 1 byte Communication status Ox2E 46 FAS_ ServoAlarmtype To request the Alarm type Sending 0 byte Response 2 byte 1 byte 1 bytes Communication status Alarm type 0 Alarm type No alarm 0 OverCurrent 1 OverSpeed 2 StepOut 3 OverLoad 4 OverTemperature 5 BackEMF 6 MotorConnect 7 Encoder Connect 8 MotorPower 9 Inposition 10 SystemHalt 11 ROMdevice 12 Over InputVol tage 14 0x31 49 FAS_ MoveStop Request to stop motor currently operates Sending 0 byte Response 1 byte 1 byte Communication status 0x32 50 FAS_ Emer gencySt op Request Emergency stop of the motor Sending 0 byte Response 1 byte 1 byte Communication status 0x33 51 FAS_ MoveOr iginSingleAxis Request the motor to return to origin under current setting param
63. imit 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 Search Speed pps 1 500 000 1 000 19 Org Acc Dec Time msec 1 9 999 50 20 Org Method 0 2 0 21 Org Dir 0 1 0 22 Org Offset pulse 134 217 727 134 217 727 0 23 Org Position Set pulse 134 217 727 134 217 727 0 24 Org Sensor Logic 0 1 0 25 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 lOrg Torque Ratio 10 100 50 31 Motor Lead 1 50 1 32 Gear Ratio 1 50 1 33 Pos Error Overflow Limit pulse 1 134 217 727 5 000 www fastech co kr Communication Protocols 1 2 3 Setup bit of Output pin Here is detail description of 0x20 0x23 0x25 0x28 Frame type This command is only applicable to 9 signals of User Output O User Output 8 out of 24 signal types in the control output port The rest of 15 output signal cannot be operated by the user s disposal When any relevant situation occurs while the drive operates they will be indicated The following table shows bit mask values by each signal Signal Assign Bit Signal Assign Bit Signal Assign Bit Name number Position Name number P
64. ks Example See Also LID_PORT_NUM There is no nPort in the connected ports LID SLAVE NUM There is no drive of iSlaveNo in the relevant port www fastech co kr Library for PC Program Ver8 FAS_MoveVe loci tyEx To move the motor to the relevant direction and velocity This function is also available for Jog moti Syntax on int FAS_MoveSing eAxis ncPos BYTE nPortNo BYTE DWORD iSlaveNo IVelocity int iVelDir VELOG Parameters nPor tNo Port S aveNo TY_OPTION_EX IpExOpt ion number of relevant drive Slave number of relevant drive I Velocity Velocity when the motor moves iVelDir Direction which the motor moves 0 Jog 1 Jog pEx0ot ion Custom option Return Value FMMLOK Command has been normal ly performed FMM NOT OPEN The drive has not been connected yet FMM_INVA FMM_INVA Remarks Refer Example include LID PORT NUM There is no nPort in the connected ports LID SLAVE NUM There is no drive of iSlaveNo in the relevant port to VELOCITY_OPTION_EX struct FAS_ EziMOTIONPlusR h void funcMoveVelocityEx BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 long Velocity VELOCITY_OPTION_EX opt 0 int nRtn Try to connect if FAS_Connect nPortNo 115200 FALSE Connection failed The port number may be wrong or incorrect Baudrate return Moving motor with
65. l current position table items to ROM area Syntax int FAS_PosTab eWr i teROM BYTE nPor tNo BYTE iSlaveNo Parameters nPor ENO Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMC_POSTABLE_ERROR An error occurs while position table is being saved Remarks Position table data is saved to RAM ROM area This function activates to save data to ROM area Even though power is off data is preserved Example See Also FAS_PosTab eReadROM www fastech co kr Library for PC Program Ver8 FAS_PosTab eReadROM To read posi Syntax tion table items being saved in ROM area int FAS_PosTab eReadROM BYTE nPortNo BYTE Parameters nPor ENO Port iSlaveNo number of relevant drive iSlaveNo Slave number of relevant drive Return Value FMM_OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM_INVA FMM_INVA LID PORT NUM There is no nPort in the connected ports LID 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_PosTa
66. lable Caution O is fixed to COMPOUT nRtn FAS SetOutputAssignMap nPortNo iSlaveNo iPinNo SERVO OUT LOGIC ALARM LEVEL HIGHJACTIVE _ASSERT nRtn FMM_OK Disconnect FAS_Close nPor tNo See Also FAS_GetOutputAssignMap FAS Set InputAssignMap FAS SetOutputAss i gnMap www fastech co kr Library for PC Program Ver8 FAS_GetOutputAss i gnMap To read Output Assign Map For more information refer to 1 2 Structure of Frame Type Syntax int FAS Get 0AssignMap BYTE nPortNo BYTE iSlaveNo BYTE iOutPinNo BYTE nOutLogicNo BYTE bLevel Parameters nPor tNo Port number of relevant drive S laveNo Slave number of relevant drive OutPinNo Output pin number to be read nOutLogicNo Parameter pointer where the logic value assigned to a relevant pin will be saved bleve Parameter pointer where the active level of relevant logic will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remar ks For ninLogicNo refer to MOTION_xxxxx_DEFINE h according to drive type Example Refer to FAS_GSet 0AssignMap library See Also FAS Get InputAssignMap FAS_SetInputAssignMap FAS SetOutputAssignMap www fastech co kr FAS_ Set InputAss i gnMap To set Input Assign Map
67. loci t yEx The motor moves to the given velocity and direction This function is available to Jog motion with custom accel dece time value www fastech co kr Library for PC Program Ver8 FAS_MoveStop To stop the motor Syntax int FAS_MoveStop BYTE nPor tNo BYTE iSlaveNo Parameters nPor ENO Port number of relevant drive iSlaveNo Slave number of relevant drive Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMMINVALID PORT NUM There is no nPort in the connected ports FMMINVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also www fastech co kr Library for PC Program Ver8 FAS_Emer gencyStop To stop the motor without deceleration Syntax int FAS_EmergencyStop BYTE nPortNo BYTE iSlaveNo Parameters nPor ENO Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been successfully per formed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected 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
68. mber 0 255 Response 1 byte 1 byte Communication status FAS_ Read one of Position Table 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_ Save one of Position Table values to the RAM of the drive PosTableWriteOneltem Sending 8 byte 2 byte 2 byte 4 byte 0x68 PT Number 0 255 Offset value 0 40 Relevant one of PT value 107 Refer to 1 2 6 Position Table Item for Offset value Response 2 byte 1 byte 1 byte Communication status Command per forming status values except 0 complete 0 error Frame Type 0x65 0x69 0x90 0x92 are assigned for internal use www fastech co kr Communication Protocols 1 2 2 Parameter Lists No Name Unit Lower Limit Upper Limit Default 0 Pulse per Revolution 0 9 9 1 Axis Max Speed pps 1 2 500 000 500 000 2 Axis Start Speed pps 35 000 1 3 Axis Acc Time msec 9 999 100 4 Axis Dec Time msec 9999 100 5 Speed Override 1 500 100 6 Jog Speed pps 500 000 5 000 7 Jog Start Speed pps 35 000 1 8 Jog Acc Dec Time msec 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 L
69. o Port number to disconnected Remarks Example Refer to FAS_Connect library See Also FAS_Connect www fastech co kr Library for PC Program Ver8 FAS GetSlavelnfo To get the information string of the relevant drive Syntax int FAS GetSlavelnfo BYTE nPortNo BYTE iSlaveNo DRIVE INFO IpDrivelnfo Parameters nPor ENO Port number of relevant drive S aveNo Slave number of relevant drive pDr ivelnfo Informations of relevant drive Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_Connect library See Also www fastech co kr Library for PC Program Ver8 FAS IsSlaveExist Check connection status of the drive Syntax BOOL FAS_IsSlaveExist BYTE nPortNo BYTE iSlaveNo Parameters nPor ENO 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 inapplicable to the protocol program mode Example Refer to FAS_Connect library See Also FAS_Connect www fastech co kr 2 4 Parameter Library for PC Program Ver8 Control Function Funct
70. o be set aw OCLRWask Input bitmask value to be cleared Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remar ks Be careful that dwlOSetMask bit and dwlOCLRMask bit are not duplicated Example include FAS_EZziMOTIONPIusR h void funcl0 BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 DWORD dwinput dwOutput int nRtn Try to connect if FAS Connect nPortNo 115200 FALSE Connection failed The port is not connected or the baudrate may be wrong return Check 1 0 input nRtn FAS Get IOInput nPortNo iSlaveNo amp dwlnput _ASSERT nRtn FMM_OK if dwinput amp STEP IN BITMASK LIMITP Limit input is ON www fastech co kr Library for PC Program Ver8 if dwinput amp STEP_ N_B TMASK_USERINO User Input O is ON Turning ON Clear Position and User Input 1 inputs and turning off Jog input nRtn FAS_Set OInput nPortNo iSlaveNo STEP_IN_BITMASK_CLEARPOSITION STEP_IN_BITMASK_USERIN1 STEP_IN_BI TMASK_PJOG _ASSERT nRtn FMM_OK Check 1 0 output nRtn FAS_Get 00utput nPortNo iSlaveNo amp dwOutput _ASSERT nRtn FMM_OK if dwOutput amp STEP OUT BITMASK USEROUTO User
71. oid 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 The 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 www fastech co kr Library for PC Program Ver8 FAS_SetActua Pos www fastech co kr Library for PC Program Ver3 ES FAS_SetActual Pos To set the actual position value to the motor Syntax int FAS SetActualPos BYTE nPortNo BYTE iSlaveNo long lActPos Parameters nPor ENO Port number of relevant drive SlaveNo Slave number of relevant drive ActPos Actual position value to be set Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks The user sets the encoder feedback counter value to the value what customer wants Example Refer to FAS GetActualPos See Also library FAS SetCommandPos www fastech co kr Library for PC Program
72. ointer where meter pointer where meter pointer where the 1 0 input value will be saved the 1 0 output value will be saved the axis status value of the relevant motor will be saved the command position value will be saved the actual position value will be saved the position error value will be saved the actual velocity value will be saved FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to See Also FAS_GetAxisStatus FAS_GetMot ionStatus FAS_MoveSingleAxisAbsPos library www fastech co kr Library for PC Program Ver8 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 QwAx sStatus Parameter pointer where the axis status value of the relevant motor Return Value FMM_OK Command has been successfully per formed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example
73. osition Name number Position sale 0x00000001 01977 0x00000100 05 17 0x00010000 Out Search OK Output 1 Imposition 5 I gxoooo0002 gt 19 0x00000200 US 0x00020000 Output 2 Alarm reserved User 3 0x00000004 11 0x00000400 0x00040000 Output 3 i B mony 4 0x00000008 gt 2 12 0x00000800 05 0x00080000 Output 4 Acc Dec PT OutputO User 5 0x000000 10 13 0x0000 1000 0x00 100000 Output 5 END PT 2 N 7 0x00000040 PT Output 15 0x00004000 US Output 7 ar AMEN 0x00000080 gt 16 0x00008000 05 Output 0 Output 8 Example 1 Sending data to turn ON the User Output 5 0x00400000 0x00800000 RON ox00000020 P7 trutt 14 0x00002000 US 22 0x00200000 Output 6 4 bytes 4 bytes 1 0 set mask value 1 0 clear mask value 0x00 100000 0x00000000 Example 2 Sending data to turn OFF the User Output 5 4 bytes 4 bytes 1 0 set mask value 1 0 clear mask value 0x00000000 0x00 100000 www fastech co kr Communication Protocols 1 2 4 Setup bit of Input pin Here is detail description of Ox21 0x22 0x24 0x27 Frame type This command is only applicable to 35 signals in the control input port User can use signals for testing as if they are inputted without actual input signal The following table shows bit mask values by each signal Assign Assign ea Ke Bit Assign Bit Signal Ke Bit Position number Position
74. product 1 OxA001 of CRC16 const unsigned short TABLE_CRCVALUE 0x0000 OxCOC1 OxC181 0x0140 OxC301 0x03C0 0x0280 OxC241 OxC601 0x06C0 0x0780 OxC741 0x0500 OxC5C1 OxC481 0x0440 OxCCO1 OxOCCO 0x0D80 OxCD41 OxOFOO OxCFC1 OxCE81 0x0E40 OxOA00 OxCAC1 OxCB81 0x0B40 OxC901 Ox09C0 0x0880 OxC841 0xD801 0x18C0 0x1980 0xD941 0x1800 OxDBC1 OxDA81 Ox1A40 Ox1600 OxDEC1 OxDF81 Ox1F40 OxDDO1 Ox1DCO Ox1C80 OxDC41 0x1400 OxD4C1 OxD581 0x1540 0xD701 Ox17C0 0x1680 O0xD641 www fastech co kr 2 0xD201 OxFOO1 0x3600 Ox3C00 OxFA01 0x2800 OxEE01 OxE401 0x2200 OxA001 0x6600 Ox6C00 OxAAO1 0x7800 OxBEO1 0xB401 0x7200 0x5000 0x9601 Ox9C01 Ox5A00 0x8801 Ox4E00 0x4400 0x8201 0x12C0 0x30C0 OxF6C1 OxFCC1 Ox3ACO OxE8C1 Ox2ECO 0x24C0 OxE2C1 Ox60C0 OxA6C1 OxACC1 Ox6ACO OxB8C1 Ox7ECO 0x74C0 OxB2C1 Ox90C1 0x56C0 Ox5CCO Ox9AC1 0x48C0 Ox8EC1 Ox84C1 0x42C0 0x 1380 0x3180 OxF781 OxFDB1 0x3B80 OxE981 0x2F80 0x2580 OxE381 0x6180 0xA781 OxADB1 0x6B80 0xB981 Ox7F80 0x7580 0xB381 0x9181 0x5780 0x5080 0x9B81 0x4980 Ox8F81 0x8581 0x4380 0x0341 OxF 141 0x3740 0x3D40 OxFB41 0x2940 OxEF41 OxE541 0x2340 OxA141 0x6740 0x6D40 OxAB41 0x7940 OxBF41 0xB541 0x7340 0x5140 0x9741 0x9041 0x5B40 0x8941 Ox4F40 0x4540
75. put status value Relevant bit by each output signal refer to 1 2 3 Bit setup of Output PIRI www fastech co kr Communication Protocols FAS_ Set InputAss i gnMap Assign Input signal to the pin of CN1 port and set signal level simultaneously By running FAS_SaveAl Parameters you can save the setting value to the ROM Sending 3 bytes 1 byte 1 bytes 1 byte IN number Assign number Setting level oe IN number O 11 corresponds to Limit Limit Org IN1 36 INQ respectively Assign number 1 35 refer to 1 2 4 Setup bit of Input Level Setting O Active Low 1 Active High Response 1 byte 1 byte Communication status FAS_ Assign Output signal to the pin of CN1 port and set signal level SetOutputAssignMap simultaneously By running FAS_SaveAl Parameters you can save the setting value to the ROM Sending 3 bytes 1 byte 1 bytes 1 byte OUT number Assign number Setting level DE OUT number 0 9 corresponds to COMP OUT1 OUTS 37 respectively Assign number 1 24 refer to 1 2 3 Setup bit of Output Level Setting O Active Low 1 Active High Response 1 byte 1 byte FAS_ Recognize setting status of 1 0 amp setting value from ROM area OAss i gnMapReadROM These values are loaded to RAM Sending 0 byte i Response 2 bytes 1 byte 1 byte cae Command per
76. re the position error value will be saved Act Ve Parameter pointer where the actual velocity value will be saved wPos I temNo Parameter pointer where current running item number in the Position Table will be saved Return Value FMM_OK Command has been successfully per formed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the 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 www fastech co kr FAS_GetAI IS tatus Library for PC Program Ver8 To read 1 0 Input and Output values of the relevant drive the motor Axis Status the motor motion status value at one time Syntax int FAS GetAl IStatus BYTE BYTE nPor tNo iSlaveNo DWORD dwinStatus DWORD dwOutStatus DWORD dwAxisStatus long long long long WORD Parameters nPor tNo CmdPos ActPos PosErr ActVel wPos temNo Port number of relevant drive S aveNo Slave number of relevant drive aw nStat US Parameter pointer where awoutSta tus Parameter pointer where QWAx sSt Para CmaPos Para ActPos Para PosErr Para ActVe Para wPos temNo meter pointer where current running item number in the Position Table wi I I be saved Para Return Value atus meter pointer where meter pointer where meter p
77. rks Example include FAS_EZiMOTIONPIusR h void funcMove BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 DWORD dwAxisStatus dwlnput j EZISTEP_AXISSTATUS stAxisStatus long lAbsPos IncPos IVelocity 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 error status nRtn FAS GetAxisStatus nPortNo iSlaveNo amp dwAxisStatus _ASSERT nRtn FMM_OK stAxisStatus dwalue dwAxisStatus if dwAxisStatus amp 0x00000001 if stAxisStatus FFLAG_ERRORALL www fastech co kr Library for PC Program Ver3 EGR FAS StepAlarmReset nPortNo iSlaveNo Check input status nRtn FAS Get IOInput nPortNo iSlaveNo amp dwInput gt _ASSERT nRtn FMM_OK if dwinput amp STEP IN LOGIC STOP STEP_IN_LOGIC_PAUSE STEP_ IN_LOGIC_ESTOP FAS Set IOInput nPor tNo iSlaveNo 0 STEP_IN_LOGIC_STOP STEP IN LOGIC PAUSE STEP IN LOGIC ESTOP Increase the motor to 15000 pulse I IncPos 15000 IVelocity 30000 nRtn FAS MoveSingleAxisincPos nPortNo iSlaveNo IIncPos IVelocity _ASSERT nRtn FMMLOK Stand by until motion command is completely finished do Sleep 1 nRtn FAS GetAxisStatus nPortNo iSlaveNo amp dwAxisStatus _ASSERT nRtn FMM_OK stAxisStatus dwValue dwAxisStatus while stAxisStatus FFLAG_
78. rs that can be connect to drive PT number Motion step number that can be set to drive 64 256 Spare For manufacturer FAS_ Save currently set parameters amp assigned signals in the ROM of the SaveAl Parameters drive Even the drive is powered off saving these data amp parameters are possible Values set at FAS_SetParameter amp FAS Set lOAssignMap are saved together 0x10 16 Sending 0 byte Response 1 byte 1 byte Communication status www fastech co kr Communication Protocols FAS_ Specific parameter value in the ROM are recognized GetROMPar ameter Sending 1 byte 1 byte Parameter number 0 31 Ox11 17 Response 5 bytes 1 byte 4 bytes Communication status Parameter value Refer to 1 2 2 Parameter List FAS_ Specific parameter value 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 value in the RAM are recognized GetParameter Sending 1 byte 1 byte Parameter number 0 31 Response 5 bytes 1 byte 4 bytes Communication status Parameter value Refer to 1 2 2 Parameter List 0x13 19 www fastech co kr Communication Protocols
79. running Sending 4 bytes 4 bytes Changed command position value pulse Response 1 byte 1 byte Communication status www fastech co kr Communication Protocols FAS_ Request the motor to change the target incremental position PositionIncOverride value pulse during operation Sending 4 bytes Oxa 4 bytes GT Changed command position value pulse Response 1 byte 1 byte Communication status FAS_ Request the motor to change the running speed value pps while it is VelocityOverride in running Sending 4 bytes Ox3A 4 bytes 58 Changed running speed pps Response 1 byte 1 byte Communication status FAS_ Request stop for all motor that connected in same port during Al IMoveStop operation 0x3B Sending 0 byte 59 Slave number must be 99 Response no response All slaves does not send response because can not receive response from all slaves simultaneously FAS_ Request emergency stop for all motor that connected in same port Al I Emer gencyStop dur ing operation Ox3C Sending 0 byte 60 Slave number must be 99 Response no response All slaves does not send response because can not receive response from all slaves simultaneously FAS Al I Request return to origin under current setting parameter condition MoveOr iginSingleAxis for all drives that connected in same port Sending 0 byte
80. rvo ON status the data is 1 so Insert 1 in area and click 1 byte 6 CRC Click CRC and the automatically 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 R www fastech co kr Protocol test Program PIG You can check the motor torque and LED flash for Servo ON status 9 After sending command you can check the answering information from Ezi SERVO Plus R on Buffer Received window 2 Motion command purpose of command de Protocol Test E ed Connection p Buffer Received Comm Port 77 Header Siv Cmd Stat REFRESH Disconnect Baudrate fl 15200 Send Buffer OxAA 0xCC 0x00 0x35 0x10 0x27 0x00 0x00 0x88 0x13 0x00 0x00 0x3D 0x97 0xAA 0xEE r Values 1 Header 0 2 SlaveNo BYTE Static CHAR Static WORD Static SHORT Static 3 Data DWORD Static LONG Static S001 byte 2bytes Abytes 4 CRC 5 Tail CLEAR SEND gt gt 1 Header 2 Slave No 3 Sync No 4 Frame type insert 53 in 1 byte size for Incremental Move command 5 Data Position value insert 10000 and click 4byte 6 Data Running speed insert 5000 and click 4 byte 7 CRC 8 Tail 9 Send
81. s function is available to Jog motion FAS_Posit ionAbsOver r ide Change the target absolute position value pulse of the motor in running FAS_Position ncOverr ide Change the target incremental position value pulse of the motor in running FAS_VelocityOver ride Change the running velocity value pps of the motor in running FAS Al IMoveStop Stop all motors connected in same port with deceleration EAS Al emergencverop Stop all motors connected in same port immediately without deceleration PAi overtaim inen Start operation to return all motors in same port to origin position FAS AlliMoves inal kx Sabsras All motors that connected in same port moves as much as the given absolute position value FAS_Al IMoveSingl eAxisIncPos All motors that connected in same port moves as much as the given incremental position value FAS Movel i near AbsPos More than 2 motors that connected in same port Linear nterpolation moves as much as the given absolute position value FAS Movel i near IncPos More than 2 motors that connected in same port Linear nterpolat ion moves as much as the given incremental position value FAS MoveSingleAxisAbsPosEx The motor moves as much as the given absolute position value with custom accel decel time value FAS MoveSingleAxislncPosEx The motor moves as much as the given incremental position value with custom accel decel time value FAS MoveVe
82. tion value pulse GetActualPos 0x53 Sending 0 byte 83 Response 5 bytes 1 byte 4 bytes Communication status Actual position value www fastech co kr Communication Protocols FAS_ Request the difference pulse between the command position value and GetPosEr ror the actual position value Sending 0 byte bea Response 5 bytes 84 1 byte 4 bytes Communication status Position difference value With this value user can check the current running status In position tracking status FAS_ Request the current running speed value pps GetActual Vel 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 system so the command ClearPosition position value is continuously renewed during operation User can set the command position and actual position value as 0 before it starts to operate and can check how the command position value is changed 0x56 86 Sending 0 byte Response 1 byte 1 byte Communication status FAS_ Read Position Table values in the RAM of the drive PosTab eRead tem Sending 2 bytes 2 bytes 0x60 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 FA
83. ue will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_Set OInput library See Also FAS_Set 100utput www fastech co kr Library for PC Program Ver8 FAS_Get InputAss i gnMap To read Input Assign Map For more information refer to 1 2 Structure of Frame Type Syntax int FAS Get 0AssignMap BYTE nPortNo BYTE iSlaveNo BYTE i InPinNo BYTE niInLogicNo BYTE bLevel Parameters nPor tNo Port number of relevant drive S laveNo Slave number of relevant drive nPinNo Input pin number to be read ninLogic Parameter pointer where the logic value assigned to a relevant pin will be saved bleve Parameter pointer where the active level of relevant logic will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remar ks For ninLogicNo refer to MOTION_xxxxx_DEFINE h according to drive type Example include FAS_EziMOTIONPIusR h void funclOAssign BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0
84. umber that is running www fastech co kr Library for PC Program Ver8 FAS_Get OStatus To read 0 Input and Output values of the relevant drive and the motor Axis Status value Syntax int FAS_Get OAxisStatus BYTE nPor tNo BYTE iSlaveNo ULONGLONG ulnStatus DWORD dwOutStatus Parameters nPor ENO Port number of relevant drive S aveNo Slave number of relevant drive ulnStatus Parameter pointer where the 1 0 input value will be saved awoutStatus Parameter pointer where the 1 0 output value will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also www fastech co kr Library for PC Program Ver8 FAS_GetMot ionStatus To read the motion status of current motor at one time Syntax int FAS_GetMot ionStatus BYTE nPortNo BYTE iSlaveNo longs ICmdPos long lActPos long IPosErr long lActVel WORD wPos temNo Parameters nPor ENO Port number of relevant drive S aveNo Slave number of relevant drive CmaPos Parameter pointer where the command position value will be saved ActPos Parameter pointer where the actual position value will be saved PosErr Parameter pointer whe
85. utput signal ON or OFF status To read the current input signal status of the control output port The signal status returns by bit for each output signal To read the Input pin of setting status of the CN1 port FAS Get Input Ass i gnMap The sett ing status for each 9 variable signals returns by bit to the Input port To read the Output pin of setting status of the CN1 port FAS GetOutputAssignMap The setting status for each 9 variable signals returns by bit to the Output port To assign the control Input signal to CN1 port pin and also set the FAS Set InputAssignMap signal level Sett ing for each 9 var iable signals is assigned to the Input port To assign the control Output signal to CN1 port pin and also set FAS SetOutputAssignMap the signal level Setting for each 9 var iable signals is assigned to the Output port To load the pin of setting status of CN1 port from ROM area to RAM area FAS Set IO Input FAS Get IO Input FAS Set OOutput FAS Get OOutput FAS 10Ass i gnMapReadROM www fastech co kr Library for PC Program Ver8 FAS_Set IOInput To set 1 0 input For more information refer to 1 2 Structure of Frame Type Syntax int FAS_Set10Input BYTE nPortNo BYTE iSlaveNo DWORD dwlOSetMask DWORD dwIOCLRMask Parameters nPor ENO Port number of relevant drive S aveNo Slave number of relevant drive aw 0SetMask Input bitmask value t
86. utput values For more information refer to 1 2 Structure of Frame Type Syntax int FAS_Set O0utput BYTE nPortNo BYTE iSlaveNo DWORD dw OSetMask DWORD dwIOCLAMask Parameters nPor ENO Port number of relevant drive S aveNo Slave number of relevant drive aw 0SetMask Output bitmask value to be set ON status aw OCLARWask Output bitmask value be cleared OFF status Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remar ks There are 10 output pins in EziSERVO PlusR The user can select and use 9 output pins of them 24V 5V N R2 ANA Out R1 3 utput yr A gl 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 Set 1Olnput See Also FAS Get I00utput www fastech co kr Library for PC Program Ver8 FAS_Get O00utput To read 0 output values For more information refer to 1 2 Structure of Frame Type Syntax int FAS_Get 100utput BYTE nPortNo BYTE iSlaveNo DWORD dwlOOutput Parameters nPor ENO Port number of relevant drive S aveNo Slave number of relevant drive aw 0 nout Parameter pointer where the output val
87. x0002 Custom Accel Time is used 0x0004 Custom Decel Time is used If the Flag bit is OFF status 0 Accel Decel time value is used that saved in controller Response 1 byte www fastech co kr Communication Protocols FAS_ MoveSingleAxis ncPos Ex Request the motor Sending 40 bytes to move its position as much as the absolute value pulse with Custom Accel Decel Time msec 4 bytes 4 bytes 4 bytes 2 bytes incremental Running speed Flag Custom Accel Time position pps option 1 9999 value 2 bytes 24 bytes 0x81 a 129 Custom Decel Time Reser ved 1 9999 Flag ooption 0x0001 reserved 0x0002 Custom Accel Time is used 0x0004 Custom Decel Time is used If the Flag bit is OFF status 0 Accel Decel time value is used that saved in controller Response 1 byte FAS_ Request the motor to start jog mot ion at the current setting parameter MoveVe loc i tyEx condition with custom Accel Decel time value msec Sending 37 bytes 4 bytes 1 bytes 4 bytes Running speed Running direction 0 Jog Flag option pps 1 Jog 2 2 0x82 bytes 6 bytes 130 Custom Accel Decel Time Reserved 1 9999 Flag oopt ion 0x0001 reserved If the Flag bit is OFF status 0 Accel Decel time value is 0x0002 Gustom Accel Decel Time is used used that saved in controller Response 1 byte
88. xA001 unsigned short wCrc int iByte iBit Initialize CRC wCrc Oxffff www fastech co kr Communication Protocols HEGRE for iByte 0 iByte lt usDataLen iBytet Exclusive OR the byte with the CRC wcrc pDataBuffer iByte Loop through all 8 data bits for iBit 0 iBit lt 7 iBittt If the LSB is 1 shift the CRC and XOR the polynomial mask with the CRC Note the bit test is performed before the rotation so can t move the lt lt here if were amp 0x0001 wCrc gt gt 1 wCrc POLYNOMIAL else Just rotate it wCrc gt gt 1 return wCrc www fastech co kr Communication Protocols 1 1 4 Response Frame Structure and Communication Error Ver8 When any command is sent the basic structure of Frame at the response side is identical However there is a difference in case of frame Data which communication status is added as shown below Slave Sync Frame ID number Type Data i 1 1 byte 0 247 bytes 2 bytes byte 1 byte 1 byte Communication status Response data Low byte High byte Slave ID Same to sending Frame When this is not same to sending data need to recognize as the error status Sync number Same to sending Frame When this is not same to sending data need to recognize as the error status 3 Frame type Same to sending
89. xAA OxCC 4 252 bytes OxAA OxEE O AOO OxAA Delimited byte OxAA OxCC Indicate header of the Frame OxAA OxEE Indicate tail of the Frame If any of the Frame data is OxAA OxAA should be added right after it byte stuffing If any data following OxAA is not OxAA OxCC or OxEE it indicates an error Detailed Frame Data is configured as follows Slave ID Sync number Frame type Data CRC 2 bytes 1 byt 1 byt 1 byt 0 248 bytes yte yte yte ytes Low byte High byte 6 88 1 Slave ID Dive module number 0 15 connected to the PC communication port Sync number Serial number for that packet This number have to be change for each command Frame type Designate command type of relevant frames For the command type refer to Frame Type and Data Configuration section Data Data structure and length are set according to Frame type For more information refer to Frame Type and Data Configuration section CRC To check an error which occurs during communication OxA001 of a polynomial factor in CRC16 Cyclic Redundancy Check or X16 X15 X2 1 of a polynomial factor in CRC 16 1BM Cycl ic Redundancy Check is used CRC calculation is performed for all items Slave ID Frame type Data prior to CRC item 1 3 CRC Calculation Example The following program source is included ina file file name CRC_Checksum c provided with the
90. xample Refer to FAS_MoveSingleAxisAbsPos library See Also FAS_Position ncOverr ide www fastech co kr Library for PC Program Ver8 FAS PositionIncOverr ide To change the incremental position value set while the motor moves to the incremental position Syntax int FAS PositionlncOverr ide BYTE nPortNo BYTE iSlaveNo long Overr idePos Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Overr dePos Incremental coordinate position value to be changed Return Value FMM_OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMMAINVALID PORT NUM There is no nPort in the connected ports FMMINVALID 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_Posit ionAbsOver r ide www fastech co kr Library for PC Program Ver8 FAS_VelocityOverr ide To change the velocity set while the motor moves Syntax int FAS VelocityOverr ide 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 successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM
91. xample See Also FAS_PosTableWr i teOne I tem www fastech co kr Library for PC Program Ver8 FAS_PosTab eWr i teOne I tem To edit specific item in the specific position table Syntax int FAS PoslableWr i teOne tem BYTE nPortNo BYTE iSlaveNo WORD wl temNo WORD wOffset long IPosltemVal Parameters nPor tNo Port number of relevant drive S laveNo Slave number of relevant drive wl temNo Item number to be edited wOffset offset value which will be save from PT items Refer to 1 2 6 Position Table Item Pos temva PT item data value to be set Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMC_POSTABLE_ERROR An error occurs while position table is being written FMM_INVAL ID_PARAMETER_NUM wltemNo is out of range Remarks Example See Also FAS_PosTab eReadOne tem www fastech co kr Protocol test Program PIi 3 Protocol test Program Next window activates when you Cl i kitssorrest icon in User Program GUI installed folder Next test procedure will help you to Understand the protocol programming 1 Servo ON OFF command purpose of command fe Protocol Test Connection r Buffer Received Comm Port 77 Header Siv Cmd Stat REFRESH Disconnect OxAA OxCC

User Manual - Koco Motion GmbH

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