# APS Function Library # Vesion：2.1 Build Date： 6.28.2022 www.adlinktech.com # Support Products： DPAC-1000 DPAC-3000 PCI-8392(H) PCI-8253/56 PCI-8144 AMP-104C PCI(e)-7856 MNET-4XMO MNET-4XMO-(C) MNET-1XMO HSL-4XMO HSL-DIO PCI-8102/PCI-C154(+) PCI-8154/8158 PCIe-8154/8158 EMX-100 PCI-8254/58 / AMP-204/8C PCIe-833x ECAT-4XMO/ECAT-4XMO-MT ECAT-TRG4/ECAT-TRG4-MT AMP-304C PCIe-8364RS # Contents # SUPPORT PRODUCTS： ............. # CONTENTS ....... .... 3 # INTRODUCTION . .. ..20 # 1. PROGRAMMING LIBRARY ........ ...23 # 2. LIST OF ALL FUNCTIONS .... ..24 LIST OF ALL FUNCTIONS FOR DPAC-1000 .. .. .... 24 LIST OF ALL FUNCTIONS FOR DPAC-3000 . . 26 LIST OF ALL FUNCTIONS FOR PCI-8392(H) . . 29 LIST OF ALL FUNCTIONS FOR PCI-8253/56...... .... 34 LIST OF ALL FUNCTIONS FOR PCI-8144 . . 40 LIST OF ALL FUNCTIONS FOR AMP-104C ..... ...... 42 LIST OF ALL FUNCTIONS FOR PCI(E)-7856 . .. 45 LIST OF ALL FUNCTIONS FOR MNET-4XMO . . 48 LIST OF ALL FUNCTIONS FOR MNET-4XMO-C ..... .... 52 LIST OF ALL FUNCTIONS FOR MNET-1XMO . . 57 LIST OF ALL FUNCTIONS FOR HSL-4XMO . . 60 LIST OF ALL FUNCTIONS FOR HSL-DIO ..... ...... 63 LIST OF ALL FUNCTIONS FOR PCI-8102 / PCI-C154(+) .. .... 64 LIST OF ALL FUNCTIONS FOR PCI-8154/8158... ...... 69 LIST OF ALL FUNCTIONS FOR PCIE-8154/8158 .. ..... 74 LIST OF ALL FUNCTIONS FOR EMX-100 . .. 78 LIST OF ALL FUNCTIONS FOR PCI-8254/58 / AMP-204/8C . ..... 81 LIST OF ALL FUNCTIONS FOR PCIE-833X .. . 92 LIST OF ALL FUNCTIONS FOR ECAT-4XMO / ECAT-4XMO-MT.. . 102 LIST OF ALL FUNCTIONS FOR ECAT-TRG4 / ECAT-TRG4-MT..... ..... 105 LIST OF ALL FUNCTIONS FOR AMP-304C . . 107 LIST OF ALL FUNCTIONS FOR PCIE-8364RS..... ..... 112 # 3. SYSTEM AND INITIALIZATION... ..121 APS\_INITIAL ....... ..... 121 APS\_CLOSE.. .. 126 APS\_VERSION....... ..... 127 APS\_DEVICE\_DRIVER\_VERSION... . 128 APS\_GET\_AXIS\_INFO.. . 129 APS\_GET\_CARD\_NAME.. . 132 APS\_DISABLE\_DEVICE ..... ..... 133 APS\_SET\_BOARD\_PARAM . .. 134 APS\_GET\_BOARD\_PARAM....... ..... 135 APS\_SET\_AXIS\_PARAM... .. 136 APS\_GET\_AXIS\_PARAM ... . 137 APS\_SET\_AXIS\_PARAM\_F...... ..... 138 APS\_GET\_AXIS\_PARAM\_F .... .. 139 APS\_GET\_SYSTEM\_TIMER ......... ..... 140 APS\_GET\_DEVICE\_INFO ....... ..... 141 APS\_GET\_FIRST\_AXISID ......... ..... 142 APS\_SAVE\_PARAMETER\_TO\_FLASH..... ..... 143 APS\_LOAD\_PARAMETER\_FROM\_FLASH... .. 144 APS\_LOAD\_PARAMETER\_FROM\_DEFAULT ......... ..... 145 APS\_SET\_SECURITY\_KEY ...... ..... 146 APS\_CHECK\_SECURITY\_KEY .... .. 147 APS\_RESET\_SECURITY\_KEY ...... ..... 149 APS\_SAVE\_PARAM\_TO\_FILE....... ..... 150 APS\_LOAD\_PARAM\_FROM\_FILE ...... ..... 152 APS\_REGISTER\_EMX...... .... 154 APS\_GET\_DEVICEIP.. .. 155 APS\_RESET\_EMX\_ALARM........ ..... 156 APS\_GET\_CURR\_SYS\_CTRL\_MODE...... .... 157 APS\_GET\_MSG\_SIZE . .. 158 APS\_GET\_MSG\_DATA....... ..... 159 APS\_LOAD\_CONFIG\_FROM\_FILE...... ..... 161 # 4. SSCNET FUNCTION . ...163 APS\_START\_SSCNET ...... ..... 163 APS\_STOP\_SSCNET....... ..... 165 APS\_GET\_SSCNET\_SERVO\_PARAM....... .... 167 APS\_SET\_SSCNET\_SERVO\_PARAM .......... ..... 169 APS\_GET\_SSCNET\_SERVO\_ALARM ...... .... 171 APS\_RESET\_SSCNET\_SERVO\_ALARM . .. 173 APS\_SAVE\_SSCNET\_SERVO\_PARAM ........ ..... 174 APS\_GET\_SSCNET\_SERVO\_ABS\_POSITION . . 175 APS\_SAVE\_SSCNET\_SERVO\_ABS\_POSITION......... .... 177 APS\_LOAD\_SSCNET\_SERVO\_ABS\_POSITION...... ..... 179 APS\_GET\_SSCNET\_LINK\_STATUS ... .. 181 APS\_SET\_SSCNET\_SERVO\_MONITOR\_SRC ....... ..... 183 APS\_GET\_SSCNET\_SERVO\_MONITOR\_SRC.. .. 185 APS\_GET\_SSCNET\_SERVO\_MONITOR\_DATA .......... ..... 187 # 5. MOTION IO AND MOTION STATUS...... ....189 APS\_MOTION\_STATUS....... ..... 189 APS\_MOTION\_STATUS\_ASYNC .. . 191 APS\_MOTION\_IO\_STATUS ... . 192 APS\_MOTION\_IO\_STATUS\_ASYNC ........ ..... 193 APS\_SET\_SERVO\_ON... .. 194 APS\_GET\_POSITION .. .. 195 APS\_SET\_POSITION... .. 196 APS\_GET\_COMMAND.. . 197 APS\_SET\_COMMAND . .. 198 APS\_GET\_COMMAND\_VELOCITY... .. 199 APS\_GET\_FEEDBACK\_VELOCITY ... .. 200 APS\_GET\_ERROR\_POSITION... .. 201 APS\_GET\_TARGET\_POSITION ... .. 202 APS\_GET\_POSITION\_F ... .. 203 APS\_GET\_POSITION\_F\_ASYNC .. .. 204 APS\_SET\_POSITION\_F... .. 205 APS\_GET\_COMMAND\_F .. .. 206 APS\_GET\_COMMAND\_F\_ASYNC.. .. 207 APS\_SET\_COMMAND\_F ... .. 208 APS\_GET\_TARGET\_POSITION\_F..... .. 209 APS\_GET\_ERROR\_POSITION\_F .. .. 210 APS\_GET\_COMMAND\_VELOCITY\_F ... .. 211 APS\_GET\_FEEDBACK\_VELOCITY\_F... .. 212 APS\_GET\_MQ\_FREE\_SPACE.. . 213 APS\_GET\_MQ\_USAGE .. .. 214 APS\_GET\_STOP\_CODE.. .. 215 APS\_GET\_ENCODER ... . 217 APS\_GET\_COMMAND\_COUNTER .. .. 218 APS\_RESET\_COMMAND\_COUNTER ... . 219 APS\_GET\_LAST\_ERROR... . 220 APS\_GET\_AXIS\_LATCH\_DATA.. . 222 # 6. SINGLE AXIS MOTION..... .223 APS\_RELATIVE\_MOVE.. . 223 APS\_ABSOLUTE\_MOVE . . 225 APS\_VELOCITY\_MOVE ..... .... 227 APS\_HOME\_MOVE.... .. 229 APS\_STOP\_MOVE ..... ..... 244 APS\_EMG\_STOP ... .. 245 APS\_RELATIVE\_MOVE2.. .. 246 APS\_ABSOLUTE\_MOVE2 ... ..... 247 APS\_HOME\_MOVE2 . .. 248 APS\_SPEED\_OVERRIDE...... .... 249 APS\_RELATIVE\_MOVE\_OVRD ....... ..... 250 APS\_ABSOLUTE\_MOVE\_OVRD........ .... 252 APS\_HOME\_ESCAPE ..... .... 254 # 7. MULTI-AXES MOVE TRIGGER & STOP......... ...256 APS\_MOVE\_TRIGGER........ ..... 256 APS\_STOP\_MOVE\_MULTI....... ..... 258 APS\_EMG\_STOP\_MULTI......... ..... 260 # 8. JOG MOVE ..... ..262 APS\_SET\_JOG\_PARAM....... ..... 262 APS\_GET\_JOG\_PARAM ....... ..... 264 APS\_JOG\_MODE\_SWITCH .......... ..... 266 APS\_JOG\_START...... ..... 267 # 9. INTERPOLATION..... ..270 APS\_ABSOLUTE\_LINEAR\_MOVE ...... ..... 270 APS\_RELATIVE\_LINEAR\_MOVE .. . 273 APS\_ABSOLUTE\_ARC\_MOVE ........ ..... 275 APS\_RELATIVE\_ARC\_MOVE ..... ..... 278 APS\_ABSOLUTE\_ARC\_MOVE\_3PE.. .. 281 APS\_RELATIVE\_ARC\_MOVE\_3PE ...... .... 283 APS\_ABSOLUTE\_HELIX\_MOVE .. .. 285 APS\_RELATIVE\_HELIX\_MOVE ........ .... 288 APS\_ABSOLUTE\_HELICAL\_MOVE..... .... 291 APS\_RELATIVE\_HELICAL\_MOVE .. .. 293 # 10. ADVANCED SINGLE MOVE & INTERPOLATION... ..295 APS\_PTP ......... .... 295 APS\_PTP\_V ...... .... 298 APS\_PTP\_ALL.. . 302 APS\_VEL ........ .... 306 APS\_VEL\_ALL..... .... 309 APS\_LINE . .. 312 APS\_LINE\_V ...... ..... 316 APS\_LINE\_ALL.. .. 320 APS\_ARC2\_CA .. . 324 APS\_ARC2\_CA\_V ....... .... 328 APS\_ARC2\_CA\_ALL. .. 332 APS\_ARC2\_CE.. .. 336 APS\_ARC2\_CE\_V...... ..... 340 APS\_ARC2\_CE\_ALL ... .. 344 APS\_ARC3\_CA ....... ..... 348 APS\_ARC3\_CA\_V ..... .. 351 APS\_ARC3\_CA\_ALL. .. 354 APS\_ARC3\_CE...... .... 357 APS\_ARC3\_CE\_V.... .. 360 APS\_ARC3\_CE\_ALL ...... ..... 363 APS\_SPIRAL\_CA... .. 366 APS\_SPIRAL\_CA\_V......... .... 369 APS\_SPIRAL\_CA\_ALL ..... ..... 372 APS\_SPIRAL\_CE ... .. 375 APS\_SPIRAL\_CE\_V .......... .... 380 APS\_SPIRAL\_CE\_ALL ...... ..... 385 # 11. INTERRUPT....... ....390 APS\_INT\_ENABLE..... ..... 390 APS\_SET\_INT\_FACTOR.. .. 392 APS\_GET\_INT\_FACTOR ......... ..... 395 APS\_WAIT\_SINGLE\_INT ...... ..... 396 APS\_WAIT\_MULTIPLE\_INT........ .... 398 APS\_WAIT\_ERROR\_INT...... ..... 400 APS\_RESET\_INT........ ...... 402 APS\_SET\_INT ...... ..... 404 APS\_SET\_INT\_FACTORH .. .. 406 APS\_INT\_NO\_TO\_HANDLE ....... ...... 408 APS\_REGISTER\_INT\_CALLBACK .. .. 410 APS\_SET\_FIELD\_BUS\_INT\_FACTOR\_MOTION .......... ...... 413 APS\_GET\_FIELD\_BUS\_INT\_FACTOR\_MOTION....... ...... 415 APS\_SET\_FIELD\_BUS\_INT\_FACTOR\_ERROR... .. 416 APS\_GET\_FIELD\_BUS\_INT\_FACTOR\_ERROR ....... ...... 418 APS\_RESET\_FIELD\_BUS\_INT\_MOTION . .. 419 APS\_WAIT\_FIELD\_BUS\_ERROR\_INT\_MOTION ... .. 421 APS\_SET\_FIELD\_BUS\_INT\_FACTOR\_DI.. .. 423 APS\_GET\_FIELD\_BUS\_INT\_FACTOR\_DI . . 425 # 12. SAMPLING...... .....426 APS\_SET\_SAMPLING\_PARAM... .. 426 APS\_GET\_SAMPLING\_PARAM ... .. 427 APS\_WAIT\_TRIGGER\_SAMPLING... .. 428 APS\_WAIT\_TRIGGER\_SAMPLING\_ASYNC .. ... 430 APS\_GET\_SAMPLING\_COUNT... .. 432 APS\_STOP\_WAIT\_SAMPLING . .. 433 APS\_AUTO\_SAMPLING.. .. 434 APS\_GET\_SAMPLING\_DATA.. .. 436 APS\_SET\_SAMPLING\_PARAM\_EX... ... 438 APS\_GET\_SAMPLING\_PARAM\_EX .. .. 441 APS\_WAIT\_TRIGGER\_SAMPLING\_EX.. .. 442 APS\_WAIT\_TRIGGER\_SAMPLING\_ASYNC\_EX .. .. 444 APS\_GET\_SAMPLING\_DATA\_EX... .. 446 APS\_SET\_SAMPLING\_PARAM\_ADVANCED . . 449 APS\_GET\_SAMPLING\_PARAM\_ ADVANCED... ... 452 APS\_WAIT\_TRIGGER\_SAMPLING\_ADVANCED .. .. 453 APS\_WAIT\_TRIGGER\_SAMPLING\_ASYNC\_ADVANCED.. .. 455 APS\_GET\_SAMPLING\_DATA\_ADVANCED .. .. 458 # 13. DIO & AIO ...... ...461 APS\_SET\_FIELD\_BUS\_D\_CHANNEL\_OUTPUT.. .. 461 APS\_GET\_FIELD\_BUS\_D\_CHANNEL\_OUTPUT ... ... 463 APS\_GET\_FIELD\_BUS\_D\_CHANNEL\_INPUT ... .. 465 APS\_SET\_FIELD\_BUS\_D\_PORT\_OUTPUT .. .. 467 APS\_GET\_FIELD\_BUS\_D\_PORT\_INPUT... ... 469 APS\_GET\_FIELD\_BUS\_D\_PORT\_OUTPUT.. .. 471 APS\_WRITE\_D\_OUTPUT... .. 473 APS\_READ\_D\_OUTPUT ... .. 475 APS\_READ\_D\_INPUT... .. 477 APS\_WRITE\_D\_CHANNEL\_OUTPUT ... ... 479 APS\_READ\_D\_CHANNEL\_OUTPUT... .. 481 APS\_READ\_D\_CHANNEL\_INPUT .. .. 483 APS\_READ\_A\_INPUT\_VALUE.. .. 485 APS\_READ\_A\_INPUT\_DATA.. . 487 APS\_WRITE\_A\_OUTPUT\_VALUE .. .. 488 APS\_WRITE\_A\_OUTPUT\_DATA.. .. 490 # 14. POINT TABLE MOTION ...492 APS\_SET\_POINT\_TABLE ... .. 492 APS\_GET\_POINT\_TABLE... ... 495 APS\_SET\_POINT\_TABLE\_EX .. .. 497 APS\_GET\_POINT\_TABLE\_EX.. .. 500 APS\_POINT\_TABLE\_MOVE.. .. 503 APS\_GET\_RUNNING\_POINT\_INDEX ... .. 506 APS\_GET\_START\_POINT\_INDEX... .. 508 APS\_GET\_END\_POINT\_INDEX ... .. 510 APS\_SET\_TABLE\_MOVE\_PAUSE.. .. 512 APS\_SET\_TABLE\_MOVE\_EX\_PAUSE.. .. 514 APS\_SET\_TABLE\_MOVE\_EX\_ROLLBACK.. .. 516 APS\_SET\_TABLE\_MOVE\_EX\_RESUME .. .. 518 APS\_SET\_TABLE\_MOVE\_REPEAT .. . 520 APS\_SET\_POINT\_TABLE\_MODE2 .. .. 522 APS\_SET\_POINT\_TABLE2 . . 524 APS\_POINT\_TABLE\_CONTINUOUS\_MOVE2.. . 527 APS\_POINT\_TABLE\_SINGLE\_MOVE2.. .. 529 APS\_GET\_RUNNING\_POINT\_INDEX2 . .. 531 APS\_POINT\_TABLE\_STATUS2. .. 532 APS\_SET\_POINT\_TABLE3 . .. 534 APS\_POINT\_TABLE\_MOVE3.. .. 537 APS\_SET\_POINT\_TABLE\_PARAM3.. .. 539 APS\_SET\_FEEDER\_GROUP ...... .... 541 APS\_GET\_FEEDER\_GROUP... .. 543 APS\_FREE\_FEEDER\_GROUP . .. 544 APS\_RESET\_FEEDER\_BUFFER . .. 545 APS\_SET\_FEEDER\_POINT\_2D . . 546 APS\_SET\_FEEDER\_POINT\_2D\_EX .. . 548 APS\_START\_FEEDER\_MOVE .. .. 550 APS\_GET\_FEEDER\_STATUS . . 551 APS\_GET\_FEEDER\_RUNNING\_INDEX .. .. 553 APS\_GET\_FEEDER\_FEED\_INDEX... .. 554 APS\_SET\_FEEDER\_EX\_PAUSE .. .. 555 APS\_SET\_FEEDER\_EX\_ROLLBACK .. .. 556 APS\_SET\_FEEDER\_EX\_RESUME . . 558 # 15. ADVANCED POINT TABLE ...... ..559 APS\_PT\_ENABLE..... .... 559 APS\_PT\_DISABLE ....... .... 562 APS\_GET\_PT\_INFO .. .. 563 APS\_PT\_SET\_VS ... .. 565 APS\_PT\_GET\_VS ....... .... 567 APS\_PT\_START... .. 568 APS\_PT\_STOP ... .. 569 APS\_GET\_PT\_STATUS....... .... 570 APS\_RESET\_PT\_BUFFER .. . 572 APS\_PT\_ROLL\_BACK ........ .... 574 APS\_PT\_GET\_ERROR... .. 576 APS\_PT\_DWELL. .. 578 APS\_PT\_LINE ....... .... 580 APS\_PT\_ARC2\_CA ...... .... 582 APS\_PT\_ARC2\_CE ... . 584 APS\_PT\_ARC3\_CA ........ .... 587 APS\_PT\_ARC3\_CE ...... .... 590 APS\_PT\_SPIRAL\_CA........ .... 592 APS\_PT\_SPIRAL\_CE...... .... 594 APS\_PT\_EXT\_SET\_DO\_CH.. .. 596 APS\_PT\_EXT\_SET\_TABLE\_NO ....... .... 598 APS\_PT\_SET\_ABSOLUTE... .. 600 APS\_PT\_SET\_RELATIVE . .. 601 APS\_PT\_SET\_TRANS\_BUFFERED ......... ..... 602 APS\_PT\_SET\_TRANS\_INP . .. 603 APS\_PT\_SET\_TRANS\_BLEND\_DEC...... ..... 604 APS\_PT\_SET\_TRANS\_BLEND\_DIST .. .. 606 APS\_PT\_SET\_TRANS\_BLEND\_PCNT ........ ..... 608 APS\_PT\_SET\_ACC ... .. 610 APS\_PT\_SET\_DEC .. .. 612 APS\_PT\_SET\_ACC\_DEC...... ..... 614 APS\_PT\_SET\_S... .. 616 APS\_PT\_SET\_VM....... ..... 618 APS\_PT\_SET\_VE ... .. 620 # 16. FIELD BUS FUNCTIONS..... ..622 APS\_SET\_FIELD\_BUS\_PARAM ....... ..... 622 APS\_GET\_FIELD\_BUS\_PARAM... .. 623 APS\_SCAN\_FIELD\_BUS..... ..... 624 APS\_START\_FIELD\_BUS.... .. 626 APS\_STOP\_FIELD\_BUS .. .. 629 APS\_FIELD\_BUS\_D\_SET\_OUTPUT ....... ..... 631 APS\_FIELD\_BUS\_D\_GET\_OUTPUT... .. 633 APS\_FIELD\_BUS\_D\_GET\_INPUT........ ..... 635 APS\_FIELD\_BUS\_D\_SET\_OUTPUT\_EX ...... .... 637 APS\_FIELD\_BUS\_D\_GET\_OUTPUT\_EX........ ..... 639 APS\_FIELD\_BUS\_D\_GET\_INPUT\_EX ...... ..... 641 APS\_SET\_FIELD\_BUS\_SLAVE\_PARAM .... .. 643 APS\_GET\_FIELD\_BUS\_SLAVE\_PARAM ........ ..... 645 APS\_SET\_FIELD\_BUS\_A\_OUTPUT ....... ..... 647 APS\_GET\_FIELD\_BUS\_A\_OUTPUT... .. 649 APS\_GET\_FIELD\_BUS\_A\_INPUT....... ..... 651 APS\_GET\_SLAVE\_CONNECT\_QUALITY ....... ..... 653 APS\_GET\_SLAVE\_ONLINE\_STATUS ........ ..... 655 APS\_GET\_FIELD\_BUS\_MASTER\_STATUS ....... ..... 658 APS\_GET\_FIELD\_BUS\_LAST\_SCAN\_INFO ... .. 660 APS\_GET\_FIELD\_BUS\_MASTER\_TYPE....... ..... 662 APS\_GET\_FIELD\_BUS\_SLAVE\_TYPE ...... ..... 663 APS\_GET\_FIELD\_BUS\_SLAVE\_NAME... .. 665 APS\_GET\_FIELD\_BUS\_SLAVE\_FIRST\_AXISNO....... .... 667 APS\_GET\_FIELD\_BUS\_DEVICE\_INFO....... ..... 669 APS\_GET\_FIELD\_BUS\_MODULE\_INFO... .. 671 APS\_RESET\_FIELD\_BUS\_ALARM ....... ..... 673 APS\_GET\_FIELD\_BUS\_ALARM ... ... 674 APS\_GET\_FIELD\_BUS\_PDO... .. 675 APS\_SET\_FIELD\_BUS\_PDO ...... ..... 677 APS\_GET\_FIELD\_BUS\_PDO\_OFFSET ... ... 679 APS\_GET\_FIELD\_BUS\_SDO ...... ..... 681 APS\_SET\_FIELD\_BUS\_SDO...... ..... 683 APS\_SET\_FIELD\_BUS\_OD\_DATA... .. 685 APS\_GET\_FIELD\_BUS\_OD\_DATA ....... ..... 687 APS\_GET\_FIELD\_BUS\_OD\_MODULE\_INFO... .. 689 APS\_GET\_FIELD\_BUS\_MODULE\_MAP........ ..... 691 APS\_SET\_FIELD\_BUS\_MODULE\_MAP ...... ..... 694 APS\_GET\_FIELD\_BUS\_SLAVE\_STATE.. .. 696 APS\_SET\_FIELD\_BUS\_SLAVE\_STATE .. 698 APS\_GET\_FIELD\_BUS\_ESC\_REGISTER . .. 700 APS\_SET\_FIELD\_BUS\_ESC\_REGISTER.. ... 702 APS\_GET\_SYSTEM\_LOADING... .. 704 APS\_GET\_FIELD\_BUS\_ANALYSIS\_TOPOLOGY .. .. 705 APS\_GET\_FIELD\_BUS\_LOSS\_PACKAGE .. .. 707 APS\_SET\_DRIVE\_INPUT\_MAPPING... .. 709 APS\_SET\_TRIGGER\_OUTPUT\_MAPPING... ... 710 # 17. GEAR / GANTRY FUNCTIONS ....... ...711 APS\_SET\_GANTRY\_PARAM ... .. 711 APS\_GET\_GANTRY\_PARAM .. .. 712 APS\_SET\_GANTRY\_AXIS ... .. 713 APS\_GET\_GANTRY\_AXIS .. ... 715 APS\_GET\_GANTRY\_ERROR . .. 717 APS\_GET\_ENCODER ... .. 718 APS\_GET\_LATCH\_EVENT ... .. 719 APS\_GET\_LATCH\_COUNTER.. .. 720 APS\_START\_GEAR.. .. 722 APS\_GET\_GEAR\_STATUS ... ... 723 APS\_GET\_GANTRY\_NUMBER .. .. 724 APS\_GET\_GANTRY\_INFO... .. 725 APS\_GET\_GANTRY\_DEVIATION... .. 726 # 18. COMPARE TRIGGER.... .727 APS\_SET\_TRIGGER\_PARAM .. .. 727 APS\_GET\_TRIGGER\_PARAM.. .. 729 APS\_SET\_TRIGGER\_LINEAR... .. 731 APS\_SET\_TRIGGER\_TABLE . .. 733 APS\_SET\_TRIGGER\_MANUAL ... ... 735 APS\_SET\_TRIGGER\_MANUAL\_S... .. 736 APS\_GET\_TRIGGER\_TABLE\_CMP... .. 737 APS\_GET\_TRIGGER\_LINEAR\_CMP .. ... 738 APS\_GET\_TRIGGER\_COUNT .. .. 739 APS\_RESET\_TRIGGER\_COUNT ... .. 740 APS\_ENABLE\_TRIGGER\_FIFO\_CMP.. .. 741 APS\_GET\_TRIGGER\_FIFO\_CMP... .. 743 APS\_GET\_TRIGGER\_FIFO\_STATUS.. .. 744 APS\_SET\_TRIGGER\_FIFO\_DATA ....... ..... 745 APS\_START\_TIMER.... ... 747 APS\_GET\_TIMER\_COUNTER...... ..... 748 APS\_SET\_TIMER\_COUNTER .. ... 750 APS\_START\_TRIGGER\_TIMER ... .. 752 APS\_GET\_TRIGGER\_TIMER\_COUNTER....... .... 753 APS\_SET\_MULTI\_TRIGGER\_TABLE... ... 754 APS\_GET\_MULTI\_TRIGGER\_TABLE\_CMP ........ ..... 762 APS\_SET\_TRIGGER\_TABLE\_DATA ...... ..... 765 APS\_GET\_TRIGGER\_TABLE\_STATUS....... ..... 766 APS\_GET\_TRIGGER\_CMP\_VALUE ...... .... 767 APS\_ENABLE\_TRIGGER\_TABLE... ... 768 APS\_RESET\_TRIGGER\_TABLE........ ..... 769 APS\_SET\_TRIGGER\_TABLE\_DATA\_EX...... ..... 770 APS\_GET\_TRIGGER\_TABLE\_REMAIN\_COUNT... ... 772 APS\_GET\_TRIGGER\_LINEAR\_REMAIN\_COUNT ...... .... 773 APS\_SET\_TRIGGER\_ENCODER\_COUNTER...... ..... 774 APS\_GET\_TRIGGER\_ENCODER\_COUNTER ....... ..... 775 # 19. PROGRAM DOWNLOAD . ...777 APS\_LOAD\_VMC\_PROGRAM......... .... 777 APS\_SAVE\_VMC\_PROGRAM ......... .... 778 APS\_SET\_TASK\_MODE.. .. 779 APS\_GET\_TASK\_MODE ....... ..... 780 APS\_START\_TASK ..... ..... 782 APS\_GET\_TASK\_INFO . .. 784 APS\_GET\_TASK\_MSG ....... ..... 786 # 20. MANUAL PULSE GENERATOR FUNCTIONS........... .... .......788 APS\_MANUAL\_PULSER\_START ....... ..... 788 APS\_MANUAL\_PULSER\_VELOCITY\_MOVE .. .. 791 APS\_MANUAL\_PULSER\_RELATIVE\_MOVE ...... ..... 793 APS\_MANUAL\_PULSER\_HOME\_MOVE ..... .... 795 APS\_GET\_PULSER\_COUNTER ........ ..... 796 APS\_SET\_PULSER\_COUNTER ....... ..... 797 # 21. PITCH ERROR COMPENSATION FUNCTIONS ........... ..............798 APS\_SET\_PITCH\_TABLE........ ..... 798 APS\_GET\_PITCH\_TABLE ....... .... 804 APS\_START\_PITCH\_COMP . . 805 # 22. DPAC SYSTEM FUNCTIONS..... .....806 APS\_RESCAN\_CF.... ..... 806 APS\_GET\_BATTERY\_STATUS........ .... 807 APS\_GET\_DISPLAY\_DATA .. .. 808 APS\_SET\_DISPLAY\_DATA... . 809 APS\_GET\_BUTTON\_STATUS ........ ..... 810 # 23. NON-VOLATILE RAM . .... ..812 APS\_SET\_NV\_RAM ........ ..... 812 APS\_GET\_NV\_RAM.. . 814 APS\_CLEAR\_NV\_RAM... .. 816 # 24. FIELD BUS COMPARE TRIGGER ... ..817 APS\_SET\_FIELD\_BUS\_TRIGGER\_PARAM ......... ..... 817 APS\_GET\_FIELD\_BUS\_TRIGGER\_PARAM... .. 819 APS\_SET\_FIELD\_BUS\_TRIGGER\_LINEAR.. . 821 APS\_SET\_FIELD\_BUS\_TRIGGER\_TABLE....... ..... 824 APS\_SET\_FIELD\_BUS\_TRIGGER\_MANUAL . .. 827 APS\_SET\_FIELD\_BUS\_TRIGGER\_MANUAL\_S.. . 829 APS\_GET\_FIELD\_BUS\_TRIGGER\_TABLE\_CMP . .. 831 APS\_GET\_FIELD\_BUS\_TRIGGER\_LINEAR\_CMP .. .. 833 APS\_GET\_FIELD\_BUS\_TRIGGER\_COUNT......... ..... 835 APS\_RESET\_FIELD\_BUS\_TRIGGER\_COUNT . .. 837 APS\_GET\_FIELD\_BUS\_LINEAR\_CMP\_REMAIN\_COUNT . .. 839 APS\_GET\_FIELD\_BUS\_TABLE\_CMP\_REMAIN\_COUNT........... ..... 841 APS\_GET\_FIELD\_BUS\_ENCODER .. . 843 APS\_SET\_FIELD\_BUS\_ENCODER... . 845 APS\_GET\_FIELD\_BUS\_TIMER\_COUNTER........ ..... 847 APS\_SET\_FIELD\_BUS\_TIMER\_COUNTER .. . 848 APS\_SET\_FIELD\_BUS\_MULTI\_TRIGGER\_TABLE ........ .... 849 APS\_GET\_FIELD\_BUS\_MULTI\_TRIGGER\_TABLE\_CMP... .. 853 APS\_GET\_FIELD\_BUS\_MULTI\_TABLE\_CMP\_REMAIN\_COUNT . .. 855 # 25. FIELD BUS POSITION LATCH FUNCTIONS .. ...856 APS\_GET\_FIELD\_BUS\_LTC\_FIFO\_POINT ... .. 859 APS\_SET\_FIELD\_BUS\_LTC\_FIFO\_PARAM .. .. 861 APS\_GET\_FIELD\_BUS\_LTC\_FIFO\_PARAM... . 862 APS\_RESET\_FIELD\_BUS\_LTC\_FIFO... .. 863 APS\_GET\_FIELD\_BUS\_LTC\_FIFO\_USAGE . .. 864 APS\_GET\_FIELD\_BUS\_LTC\_FIFO\_FREE\_SPACE.. .. 865 APS\_GET\_FIELD\_BUS\_LTC\_FIFO\_STATUS . .. 866 # 26. WATCH DOG TIMER ...... ...868 APS\_WDT\_START.. .. 868 APS\_WDT\_GET\_TIMEOUT\_PERIOD... .. 869 APS\_WDT\_RESET\_COUNTER . .. 870 APS\_WDT\_GET\_COUNTER... .. 871 APS\_WDT\_SET\_ACTION\_EVENT... .. 872 APS\_WDT\_GET\_ACTION\_EVENT ... .. 874 # 27. VAO/PWM FUNCTIONS ( LASER FUNCTION )..... ...876 APS\_SET\_VAO\_PARAM... .. 876 APS\_GET\_VAO\_PARAM ... .. 877 APS\_SET\_VAO\_TABLE.. .. 878 APS\_SET\_VAO\_PARAM\_EX.. . 881 APS\_GET\_VAO\_PARAM\_EX .. .. 886 APS\_SWITCH\_VAO\_TABLE .. .. 888 APS\_START\_VAO ... .. 890 APS\_GET\_VAO\_STATUS ... .. 892 APS\_CHECK\_VAO\_PARAM.. . 894 APS\_SET\_PWM\_ON ... .. 896 APS\_SET\_PWM\_WIDTH ... .. 898 APS\_SET\_PWM\_FREQUENCY.. . 900 APS\_GET\_PWM\_WIDTH.... .. 902 APS\_GET\_PWM\_FREQUENCY ... . 904 # 28. CIRCULAR LIMIT FUNCTIONS ..... ..906 APS\_SET\_CIRCULAR\_LIMIT ... .. 906 APS\_GET\_CIRCULAR\_LIMIT..... .... 908 # 29. SIMULTANEOUS MOVE FUNCTIONS ... ..909 APS\_SET\_ABSOLUTE\_SIMULTANEOUS\_MOVE.. .. 909 APS\_SET\_RELATIVE\_SIMULTANEOUS\_MOVE . . 911 APS\_START\_SIMULTANEOUS\_MOVE.. .. 913 APS\_STOP\_SIMULTANEOUS\_MOVE ... .. 915 # 30. SINGLE LATCH FUNCTIONS ... ..917 APS\_MANUAL\_LATCH2.. .. 917 APS\_GET\_LATCH\_DATA2 . . 918 # 31. MULTI-LATCH FUNCTIONS....... .....920 APS\_SET\_LTC\_COUNTER ...... .... 920 APS\_GET\_LTC\_COUNTER....... .... 921 APS\_SET\_LTC\_FIFO\_PARAM . . 922 APS\_GET\_LTC\_FIFO\_PARAM.. . 924 APS\_MANUAL\_LATCH........ .... 926 APS\_ENABLE\_LTC\_FIFO... . 927 APS\_RESET\_LTC\_FIFO.. . 929 APS\_GET\_LTC\_FIFO\_DATA ......... ..... 930 APS\_GET\_LTC\_FIFO\_USAGE.. . 931 APS\_GET\_LTC\_FIFO\_FREE\_SPACE ....... .... 933 APS\_GET\_LTC\_FIFO\_STATUS... .. 935 APS\_GET\_LTC\_FIFO\_POINT . . 938 # 32. RING COUNTER FUNCTIONS ... ...941 APS\_SET\_RING\_COUNTER ........ .... 941 APS\_GET\_RING\_COUNTER... . 943 # 33. SPEED PROFILE CALCULATION .... ..944 APS\_RELATIVE\_MOVE\_PROFILE ........ .... 944 APS\_ABSOLUTE\_MOVE\_PROFILE.. . 946 APS\_CHECK\_MOTION\_PROFILE\_EMX........ .... 948 # 34. BACKLASH FUNCTIONS.... ...950 APS\_SET\_BACKLASH\_EN .. . 950 APS\_GET\_BACKLASH\_EN... . 953 # 35. 2-D COMPENSATION ............ .....955 APS\_SET\_2D\_COMPENSATION\_TABLE . . 955 APS\_GET\_2D\_COMPENSATION\_TABLE . 959 APS\_START\_2D\_COMPENSATION .. .. 960 APS\_ABSOLUTE\_LINEAR\_MOVE\_2D\_COMPENSATION.. .. 961 APS\_GET\_2D\_COMPENSATION\_COMMAND\_POSITION.. .. 962 # 36. SINGLE AXIS TORQUE MOTION .... ...964 APS\_TORQUE\_MOVE.. . 964 APS\_GET\_TORQUE\_COMMAND... .. 968 APS\_GET\_ACTUAL\_TORQUE.. . 969 APS\_SET\_COMMAND\_CONTROL\_MODE.. . 970 APS\_GET\_COMMAND\_CONTROL\_MODE ...... .... 972 # 37. DIAGNOSTIC FUNCTION ....... ...974 APS\_GET\_FIELD\_BUS\_FRAME\_LOSS\_DIAGNOSTIC...... ..... 974 APS\_RESET\_FIELD\_BUS\_FRAME\_LOSS\_DIAGNOSTIC .. .. 976 APS\_GET\_FIELD\_BUS\_SLAVE\_CONNECTING\_DIAGNOSTIC.. . 977 # 38. TABLE DEFINITION........ ....980 A. BOARD PARAMETER TABLE . . 980 DPAC-1000 board parameter table . .. ..... 980 DPAC-3000 board parameter table .... ... 983 PCI-8392(H) board parameter table .... ..... 985 PCI-8253/56 board parameter table.... ... 986 PCI(e)-7856 board parameter table.. .. 989 EMX-100 board parameter table .... ..... 990 PCI-8254/58 / AMP-204/8C board parameter table.... ... 991 PCIe-833x board parameter table... .... 994 AMP-304C board parameter table.... ... 998 PCIe-8364RS board parameter table .. . 1002 B. AXIS PARAMETER TABLE ........ ...... 1005 PCI-8392(H) Axis parameter table .... .. 1005 PCI-8253/56 Axis parameter table.. . 1009 PCI-8144 Axis parameter table ... ..... 1016 AMP-104C Axis parameter table.. . 1018 MNET-4XMO-(C) Axis parameter table... . 1021 MNET-1XMO Axis parameter table.. . 1027 HSL-4XMO Axis parameter table . . 1033 PCI(e)-8154/8158, PCI-8102/PCI-C154(+) Axis parameter table...... .... 1038 EMX-100 Axis parameter table .. . 1050 PCI-8254/58 / AMP-204/8C Axis parameter table.. . 1055 PCIe-833x Axis parameter table..... ..... 1064 ECAT-4XMO/ECAT-4XMO-MT Axis parameter table... ..... 1076 AMP-304C Axis parameter table.... .. 1084 PCIe-8364RS Axis parameter table ..... .. 1093 Pulse output mode table.. . 1098 C. SAMPLING PARAMETER TABLE ....... ...... 1099 Sampling parameter table for PCI-8392(H), PCI-8253/56, MNET-4XMO, PCI-8254/58 / AMP-204/8C, PCIe-833x and PCIe-8364RS. . 1099 # D. SAMPLING SOURCE TABLE .. . 1100 Sampling source table for PCI-8392(H) .. . 1100 PCI-8253/56 sampling source table .. .. 1101 MNET-4XMO sampling source table. . 1102 PCI-8254/58 / AMP-204/8C sampling source table ..... ..... 1103 PCIe-833x sampling source table . . 1105 ECAT-4XMO/ECAT-4XMO-MT and PCIe-8364RS sampling source table...... ..... 1106 # E. MOTION IO STATUS AND MOTION STATUS DEFINITIONS... . 1109 PCI-8392(H) motion IO status table . . 1109 PCI-8253/56 motion IO status table ...... ..... 1109 MNET-4XMO-(C)/1XMO,HSL-4XMO,PCI(e)-8154/8158, PCI-8102/PCI-C154(+), AMP-304C motion IO status table . 1109 PCI-8144 & AMP-104C motion IO status table ..... ...... 1110 Motion IO status description table .. . 1110 EMX-100 motion IO status table.... ..... 1111 EMX-100 Motion IO status description table .. . 1111 PCI-8254/58 / AMP-204/8C motion IO status table.. . 1112 PCI-8254/58 / AMP-204/8C Motion IO status description table..... ..... 1112 PCIe-833x motion IO status table . . 1112 PCIe-833x Motion IO status description table.. . 1113 PCIe-8364RS motion IO status table ..... ..... 1113 PCIe-8364RS Motion IO status description table .... ... 1114 # F. MOTION STATUS DEFINITION TABLE ....... ........ 1116 PCI-8392(H), 8253/56 Motion status definition table.. ..... 1116 MNET-4XMO-(C), HSL-4XMO, PCI(e)-8154/8158, PCI-8102 /PCI-C154(+), AMP-304C Motion status definition table . 1116 1XMO Motion status definition table . . 1117 PCI-8144 & AMP-104C Motion status definition table.. . 1117 Motion Status Description Table.... ..... 1117 EMX-100 Motion status definition table.. . 1118 EMX-100 Motion Status Description Table ..... ..... 1119 PCI-8254/58 / AMP-204/8C Motion status definition table.. . 1120 PCI-8254/58 / AMP-204/8C Motion Status Description Table. . 1120 PCIe-833x Motion status definition table ....... .. 1122 PCIe-833x Motion Status Description Table.. . 1122 PCIe-8364RS Motion status definition table . . 1124 PCIe-8364RS Motion Status Description Table..... ..... 1124 # G. INTERRUPT FACTOR TABLE.. . 1126 H. FIELD BUS PARAMETER TABLE . . 1164 I. GANTRY PARAMETERS TABLE ....... ...... 1166 J. TRIGGER PARAMETER TABLE.. . 1167 PCI-8253/56 Trigger parameter table.. . 1167 MNET-4XMO-C Trigger parameter table ..... ...... 1170 HSL-4XMO Trigger parameter table . 1175 DB-8150 Trigger parameter table..... ..... 1178 PCI – C154(+) Trigger parameter table ....... ..... 1182 EMX-100 Trigger parameter table ... . 1187 PCI-8254/58 / AMP-204/8C Trigger parameter table..... ...... 1190 ECAT-4XMO/ECAT-4XMO-MT, ECAT-TRG4/ECAT-TRG4-MT Trigger parameter table . . 1195 AMP-304C Trigger parameter table. . 1203 PCIe-8364RS Trigger parameter table ..... .. 1212 K. LATCH PARAMETER TABLE. . 1217 PCI-C154(+) Latch parameter table.. . 1217 PCI-8254/58 / AMP-204/8C Latch parameter table.. .. 1218 AMP-104C Latch parameter table . . 1219 ECAT-4XMO/ECAT-4XMO-MT, ECAT-TRG4/ECAT-TRG4-MT Latch parameter table ..... .. 1220 AMP-304C Latch parameter table . . 1221 PCIe-8364RS Latch parameter table . . 1223 L. DEVICE INFORMATION TABLE.. . 1224 M. FIELD BUS SLAVE PARAMETER TABLE.. . 1231 N. DPAC DISPLAY INDEX TABLE...... ...... 1233 O. DPAC BUTTON STATUS TABLE ..... .. 1235 P. SSCNET SERVO MONITOR SOURCE TABLE. . 1236 Q. VAO PARAMETER TABLE...... ...... 1238 39. APS FUNCTIONS RETURN CODE.. .1241 A. APS ERROR CODE TABLE....... ...... 1241 B. DSP MOTION KERNEL ERROR CODE..... ..... 1245 C. ETHERCAT MASTER ERROR CODE........ ...... 1249 D. PROFINET MASTER ERROR CODE. . 1251 40. APPLICATION NOTE..... .1255 AMP-304C COMPARE, TRIGGER, LATCH... . 1255 PCIE-833X IO MAPPING... . 1256 # Introduction APS means “Automation Product Software”. APS library provides users a uniform interface to access all of ADLINK products which support it. It can cover many automation fields especially in machine automation. The most important component in machine automation is motion control. APS library was first born with motion control which co-working components such as system platform management, field bus communication function, general digital input/output, general analog input/output and various counter/timer supports are all built-in components in APS. The APS library will be an all-in-one solution in automation field of ADLINK products. The benefits of using this library are A. Hardware independent B. OS independent C. Programming style consistent The first benefit is hardware independent. In the past, each product has its own software function set. Every time users want to add or remove different kinds of product even for the same purpose, they must re-program their software to fit it. Most of time, they must restudy new function usage. That’s a big effort to users in development and maintenance. It’s also not easy to achieve on time development. Now, if users use APS library, they can take APS library as their middle layer of software. It is easy to re-use their own software component which is interfacing with APS without taking care different kinds of same purpose product. That’s the meaning of hardware independent. The second benefit is OS independent. We will continuously research and develop new operating system supports. The standard package of APS supports Microsoft Windows series like Windows 7/10 and coming new Windows OS. No matter it is 32-bit or 64-bit and no matter platform is single core or multi-cores (SMP), it guarantees all functions running in every OS identically so users don’t need to worry about it. It saves much time for users to focus on their machine design. For non-Windows OS, APS also has plan to support it. This benefit can help users on product positioning from low-end to high-end machine. The third benefit is programming style consistent. APS library makes different type of applications like motion control, I/O control and communication to have the same programming style. No matter the motor is stepper or servo, no matter it is distributed or centralized topology, APS library has the same style in programming and also in parameters definitions. APS library also provides various programming language interface and examples for users like ANSI C/C++, Microsoft Visual C/C++, Visual Basic, C#, Visual Basic.NET and Borland Delphi, C/C++ builder and so on. It satisfies different users and purposes on machine development. APS library also provides a visual user interface under Windows system to test all functions of product. This software is based on APS library. In other words, any product supports APS library, the utility also supports them. The utility is called “MotionCreatorPro2” or newer version. It is good to software programmer and system setup people because users don’t even need to write any code before verifying the control results and hardware function. It is a good way from product testing to system development and debug. APS library is not only a library. It is a total package ADLINK wants to provide. It includes various kinds of OS device drivers, dynamic or static link library, many kinds of programming language interface, visualization utility, version control information, rich document, long time support and one-step installation software. It supports most of ADLINK automation products especially in machine control field. By using this library, users can reduce development time and no worry about PC’s CPU and operating system changes. The following diagram is about APS library’s position. User’s Aplication or middle software MCPro2 or ADLINK utility C# C/C++ VB.NET 3rd party runtime IDE like SoftPLC, Labviw APS library in DLL/static LIB/OCX format OS and hardware dependent device driver PC’s CPU and extension bus (ISA, PCI, PCI express, USB, Ethernet, COM…) Windows 32/64-bit Windows embedded Linux 32/64-bit VxWorks RTX on Windows 3rd Party Runtime ADLINK hardware supports APS library # 1. Programming Library APS supports many kinds of programming language. The header file of APS library contents function declarations, type definitions and constant variable definitions. The following is the example of C/C++ library. Others please refer to installed header file of corresponding languages. The function prototype and some common data type are declared in APS168.h. We suggest you to use these data types in your application programs for compatibility. The following table shows the data type’s name and the numeric range.
Type NameC/C++ Data typesDescriptionRange
U8unsigned char8-bit ASCII character0 to 255
I16Short16-bit signed integer-32768 to 32767
U16unsigned short16-bit unsigned integer0 to 65535
I32long32-bit signed long integer-2147483648 to 2147483647
U32unsigned long32-bit unsigned long integer0 to 4294967295
F32Float32-bit single-precision floating-point-3.402823E38 to 3.402823E38
F64double64-bit double-precision floating-point-1.797683134862315E308 to 1.797683134862315E309
BooleanCharBoolean logic valueTRUE, FALSE
The naming rule of APS library is full-name of purpose. In a ‘C’ programming environment： APS\_{purpose\_name}. e.g. APS\_initial(), APS\_get\_position(), APS\_relative\_move() # 2. List of all functions List of all functions for DPAC-1000
Sec.Function nameDescriptions
3System and Initialization
APS_initialDevice initialization
APS_closeDevice close
APS_versionGet the version of the library
APS_device_driver_versionGet the driver's version of devices
APS_get_card_nameGet card index
APS_set_board_paramSet board parameter
APS_get_board_paramGet board parameter
APS_get_device_infoGet device information
APS_load_param_from_fileLoad parameters from file
11Interrupt
APS_int_enableInterrupt main switch
APS_set_int_factorEnable/Disable interrupt factor and get interrupt handle.
APS_get_int_factorGet interrupt factor enable or disable
APS_wait_single_intWait single interrupt event
APS_wait_multiple_intWait multiple interrupt events
APS_reset_intReset interrupt event to non-signaled state.
APS_set_intSet interrupt event to signaled state.
APS_set_int_factorHEnable/Disable interrupt factor and get interrupt handle.(Win32)
APS_register_int_callbackRegister interrupt callback function
13DIO & AIO
APS_write_d_outputSet digital output value
APS_read_d_outputRead digital output value
APS_read_d_inputRead digital input value
20Manual Pulse Generator functions
APS_get_pulser_counterGet pulse input counter
APS_set_pulser_counterSet pulse input counter
22DPAC System functions
APS_rescan_CFRescan DPAC Slave CF slot
APS_get_battery_statusGet DPAC SRAM Battery status
APS_get_display_dataGet 7-Segment LED Data
APS_set_display_dataSet 7-Segment LED Data
APS_set_display_dataGet the Push Button Input Status
23Non-Volatile RAM
APS_set_nv_ramSet RAM data
APS_get_nv_ramGet RAM data
APS_clear_nv_ramClear RAM data
38Table definition
DPAC-1000 board parameter table
DPAC-1000 Interrupt Item Definition Table
Device information table
DPAC display index table
DPAC button status table
APS Functions Return Code
List of all functions for DPAC-3000
Sec.Function nameDescriptions
3System and Initialization
APS_initialDevice initialization
APS_closeDevice close
APS_versionGet the version of the library
APS_device_driver_versionGet the driver's version of devices
APS_get_card_nameGet card index
APS_get_axis_infoGet the information of the specified axis
APS_set_board_paramSet board parameter
APS_get_board_paramGet board parameter
APS_get_device_infoGet device information
APS_load_param_from_fileLoad parameters from file
11Interrupt
APS_int_enableInterrupt main switch
APS_set_int_factorEnable/Disable interrupt factor and get interrupt handle.
APS_get_int_factorGet interrupt factor enable or disable
APS_wait_single_intWait single interrupt event
APS_wait_multiple_intWait multiple interrupt events
APS_reset_intReset interrupt event to non-signaled state.
APS_set_intSet interrupt event to signaled state.
APS_set_int_factorHEnable/Disable interrupt factor and get interrupt handle.(Win32)
APS_register_int_callbackRegister interrupt callback function
13DIO & AIO
APS_write_d_outputSet digital output value
APS_read_d_outputRead digital output value
APS_read_d_inputRead digital input value
16Field bus functions
APS_set_field_bus_paramSet field bus related parameters
APS_get_field_bus_paramGet field bus related parameters
APS_start_field_busStart the network of specified field bus
APS_stop_field_busStop the network of specified field bus
APS_field_bus_d_set_outputSet field bus digital output
APS_field_bus_d_get_outputGet field bus digital output
APS_field_bus_d_get_inputGet field bus digital input
APS_set_field_bus_slave_paramSet parameter to field bus slave module
APS_get_field_bus_slave_paramGet parameter from field bus slave module
APS_set_field_bus_a_outputSet field bus analog output
APS_get_field_bus_a_outputGet field bus analog output
APS_get_field_bus_a_inputGet field bus analog input
APS_get_slave_connect_qualityGet the connected quality of slave
APS_get_slave_online_statusGet the online status of slave
APS_get_field_bus_last_scan_infoGet fieldbus info after system scanning.
APS_get_field_bus_master_typeGet master type of the fieldbus
APS_get_field_bus_slave_typeGet slave type on the fieldbus
APS_get_field_bus_slave_nameGet slave name on the fieldbus
APS_get_field_bus_slave_first_axisnoGet first axis of the slave module
APS_get_field_bus_device_infoGet device information on a specified field bus
20Manual Pulse Generator functions
APS_get_pulser_counterGet pulse input counter
APS_set_pulser_counterSet pulse input counter
22DPAC System functions
APS_rescan_CFRescan DPAC Slave CF slot
APS_get_battery_statusGet DPAC SRAM Battery status
APS_get_display_dataGet 7-Segment LED Data
APS_set_display_dataSet 7-Segment LED Data
APS_set_display_dataGet the Push Button Input Status
23Non-Volatile RAM
APS_set_nv_ramSet RAM data
APS_get_nv_ramGet RAM data
APS_clear_nv_ramClear RAM data
38Table definition
DPAC-3000 board parameter table
Field bus parameter table
DPAC-3000 Interrupt Item Definition Table
Device information table
DPAC display index table
DPAC button status table
APS Functions Return Code
List of all functions for PCI-8392(H)
Sec.Function nameDescriptions
3System and Initialization
APS_initialDevice initialization
APS_closeDevice close
APS_versionGet the version of the library
APS_device_driver_versionGet the driver's version of devices
APS_get_axis_infoGet the information of the specified axis
APS_get_card_nameGet card index
APS_set_board_paramSet board parameter
APS_get_board_paramGet board parameter
APS_set_axis_paramSet axis parameter
APS_get_axis_paramGet axis parameter
APS_get_system_timerGet system timer counter
APS_get_device_infoGet device information
APS_save_parameter_to_flashSave system & axes parameters to flash
APS_load_parameter_from_flashLoad system & axes parameters from flash
APS_load_parameter_from_defaultLoad system & axes parameters by default value.
APS_load_param_from_fileLoad parameters from file
4SSCNET function
APS_start_sscnetStart the network of SSCNET
APS_stop_sscnetStop the network of SSCNET
APS_get_sscnet_servo_paramRead current servo parameter value
APS_set_sscnet_servo_paramSet servo parameter
APS_get_sscnet_servo_alarmGet current servo alarm information
APS_reset_sscnet_servo_alarmServo alarm reset
APS_save_sscnet_servo_paramSave servo parameter to flash ROM
APS_get_sscnet_servo_abs_positionGet absolute reference position from servo driver
APS_save_sscnet_servo_abs_positionSave absolute reference position to flash
ROM
APS_load_sscnet_servo_abs_positionLoad absolute reference position from flash ROM
APS_get_sscnet_link_statusGet SSCNET link status
APS_set_sscnet_servo_monitor_srcSet servo monitor data source
APS_get_sscnet_servo_monitor_srcGet servo monitor data source
APS_get_sscnet_servo_monitor_dataGet servo monitor data
5Motion IO and motion status
APS_motion_statusReturn motion status
APS_motion_io_statusReturn motion IO status
APS_set_servo_onSet servo ON/OFF
APS_get_positionGet feedback position
APS_set_positionSet feedback position
APS_get_commandGet command position
APS_set_commandSet command position
APS_get_command_velocityGet command velocity
APS_get_feedback_velocityGet feedback velocity
APS_get_error_positionGet error position
APS_get_target_positionGet target position
6Single axis motion
APS_relative_moveBegin a relative distance move
APS_absolute_moveBegin a absolute position move
APS_velocity_moveBegin a velocity move
APS_home_moveBegin a home move
APS_stop_moveStop move
APS_emg_stopEmergency stop
APS_relative_move2Begin a relative distance move with speed profile
APS_absolute_move2Begin a absolute position move with speed profile
APS_home_move2Begin a home move with speed profile
8Jog move
APS_set_jog_paramSet Jog parameters
APS_get_jog_paramGet Jog parameters
APS_jog_mode_switchEnable / Disable jog move
APS_jog_startStart / stop jog move
9Interpolation
APS_absolute_linear_moveBegin an absolute position linear interpolation
APS_relative_linear_moveBegin a relative distance linear interpolation
APS_absolute_arc_moveBegin an absolute position circular interpolation
APS_relative_arc_moveBegin a relative distance circular interpolation
11Interrupt
APS_int_enableInterrupt main switch
APS_set_int_factorEnable/Disable interrupt factor and get interrupt handle.
APS_get_int_factorGet interrupt factor enable or disable
APS_wait_single_intWait single interrupt event
APS_wait_multiple_intWait multiple interrupt events
APS_reset_intReset interrupt event to non-signaled state.
APS_set_intSet interrupt event to signaled state.
APS_set_int_factorHEnable/Disable interrupt factor and get interrupt handle.(Win32)
APS_register_int_callbackRegister interrupt callback function
12Sampling
APS_set_sampling_paramSet sampling parameter.
APS_get_sampling_paramGet sampling parameter.
APS_wait_trigger_samplingWaiting for sample data.
APS_wait_trigger_sampling_asyncWaiting for sample data asynchronously
APS_get_sampling_countGet sampled data count
APS_stop_wait_samplingForce stop wait sampling
14Point table motion
APS_set_point_tableSet point table move parameters
APS_get_point_tableGet point table move parameters
APS_set_point_table_exSet point table move parameters with entend option
APS_get_point_table_exGet point table move parameters with entend option
APS_point_table_moveStart a point table move
APS_get_running_point_indexGet current point move index when axis is perform a point move
APS_get_start_point_indexGet the first point move index when axis is perform a point move
APS_get_end_point_indexGet the last point move index when axis is perform a point move
APS_set_table_move_pausePause point table move
APS_set_table_move_repeatSet point table move repeat
16Field bus functions
APS_set_field_bus_paramSet field bus related parameters
APS_get_field_bus_paramGet field bus related parameters
APS_start_field_busStart the network of specified field bus
APS_stop_field_busStop the network of specified field bus
APS_field_bus_d_set_outputSet field bus digital output
APS_field_bus_d_get_outputGet field bus digital output
APS_field_bus_d_get_inputGet field bus digital input
APS_set_field_bus_slave_paramSet parameter to field bus slave module
APS_get_field_bus_slave_paramGet parameter from field bus slave module
APS_set_field_bus_a_outputSet field bus analog output
APS_get_field_bus_a_outputGet field bus analog output
APS_get_field_bus_a_inputGet field bus analog input
APS_get_slave_connect_qualityGet the connected quality of slave
APS_get_slave_online_statusGet the online status of slave
APS_get_field_bus_last_scan_infoGet fieldbus info after system scanning.
APS_get_field_bus_master_typeGet master type of the fieldbus
APS_get_field_bus_slave_typeGet slave type on the fieldbus
APS_get_field_bus_slave_nameGet slave name on the fieldbus
APS_get_field_bus_slave_first_axisnoGet first axis of the slave module
APS_get_field_bus_device_infoGet device information on a specified field bus
17Gear / Gantry functions
APS_set_gantry_paramSet gantry function related parameter
APS_get_gantry_paramGet gantry function related parameter
APS_set_gantry_axisSet two axes in a gantry group
APS_get_gantry_axisGet which axes in a gantry group
APS_get_gantry_errorGet gantry axes deviation error
38Table definition
PCI-8392(H) board parameter table
PCI-8392(H) Axis parameter table
Sampling parameter table for PCI-8392(H), PCI-8253/56, MNET-4XMO, PCI-8254/58 / AMP-204/8C, PCIe-833x and PCIe-8364RS
Sampling source table for PCI-8392(H)
PCI-8392(H) motion IO status table
PCI-8392(H), 8253/56 Motion status definition table
PCI-8392(H) Interrupt Item Definition Table
Field bus parameter table
Gantry parameters table
Device information table
Field bus slave parameter table
SSCNET servo monitor source table
APS Functions Return Code
List of all functions for PCI-8253/56
Sec.Function nameDescriptions
3System and Initialization
APS_initialDevice initialization
APS_closeDevice close
APS_versionGet the version of the library
APS_device_driver_versionGet the driver's version of devices
APS_get_axis_infoGet the information of the specified axis
APS_get_card_nameGet card index
APS_set_board_paramSet board parameter
APS_get_board_paramGet board parameter
APS_set_axis_paramSet axis parameter
APS_get_axis_paramGet axis parameter
APS_get_system_timerGet system timer counter
APS_get_device_infoGet device information
APS_save_parameter_to_flashSave system & axes parameters to flash
APS_load_parameter_from_flashLoad system & axes parameters from flash
APS_load_parameter_from_defaultLoad system & axes parameters by default value.
APS_load_param_from_fileLoad parameters from file
5Motion IO and motion status
APS_motion_statusReturn motion status
APS_motion_io_statusReturn motion IO status
APS_set_servo_onSet servo ON/OFF
APS_get_positionGet feedback position
APS_set_positionSet feedback position
APS_get_commandGet command position
APS_set_commandSet command position
APS_get_command_velocityGet command velocity
APS_get_feedback_velocityGet feedback velocity
APS_get_error_positionGet error position
APS_get_target_positionGet target position
6Single axis motion
APS_relative_moveBegin a relative distance move
APS_absolute_moveBegin a absolute position move
APS_velocity_moveBegin a velocity move
APS_home_moveBegin a home move
APS_stop_moveStop move
APS_emg_stopEmergency stop
APS_relative_move2Begin a relative distance move with speed profile
APS_absolute_move2Begin a absolute position move with speed profile
APS_home_move2Begin a home move with speed profile
8Jog move
APS_set_jog_paramSet Jog parameters
APS_get_jog_paramGet Jog parameters
APS_jog_mode_switchEnable / Disable jog move
APS_jog_startStart / stop jog move
9Interpolation
APS_absolute_linear_moveBegin an absolute position linear interpolation
APS_relative_linear_moveBegin a relative distance linear interpolation
APS_absolute_arc_moveBegin an absolute position circular interpolation
APS_relative_arc_moveBegin a relative distance circular interpolation
APS_absolute_arc_move_3peBegin a absolute position circular interpolation by pass and end point method
APS_relative_arc_move_3peBegin a relative distance circular interpolation by pass and end point method
APS_absolute_helix_moveBegin a absolute position helical interpolation
APS_relative_helix_moveBegin a relative distance helical interpolation
11Interrupt
APS_int_enableInterrupt main switch
APS_set_int_factorEnable/Disable interrupt factor and get interrupt handle.
APS_get_int_factorGet interrupt factor enable or disable
APS_wait_single_intWait single interrupt event
APS_wait_multiple_intWait multiple interrupt events
APS_reset_intReset interrupt event to non-signaled state.
APS_set_intSet interrupt event to signaled state.
APS_set_int_factorHEnable/Disable interrupt factor and get interrupt handle.(Win32)
APS_register_int_callbackRegister interrupt callback function
12Sampling
APS_set_sampling_paramSet sampling parameter.
APS_get_sampling_paramGet sampling parameter.
APS_wait_trigger_samplingWaiting for sample data.
APS_wait_trigger_sampling_asyncWaiting for sample data asynchronously
APS_get_sampling_countGet sampled data count
APS_stop_wait_samplingForce stop wait sampling
13DIO & AIO
APS_write_d_outputSet digital output value
APS_read_d_outputRead digital output value
APS_read_d_inputRead digital input value
APS_read_a_input_valueRead back analog input value by volt
APS_read_a_input_dataRead back analog input raw data
APS_write_a_output_valueSet analog output value by volt
APS_write_a_output_dataSet analog output value by raw data
14Point table motion
APS_set_point_tableSet point table move parameters
APS_get_point_tableGet point table move parameters
APS_point_table_moveStart a point table move
APS_get_running_point_indexGet current point move index when axis isperform a point move
APS_get_start_point_indexGet the first point move index when axis is perform a point move
APS_get_end_point_indexGet the last point move index when axis is perform a point move
APS_set_table_move_pausePause point table move
APS_set_table_move_ex_pauseDecelerate to stop move and control I/O
APS_set_table_move_ex_rollbackRollback to starting position of current point index
APS_set_table_move_ex_resumeRe-start point table move and keep I/O status
APS_set_table_move_repeatSet point table move repeat
17Gear / Gantry functions
APS_set_gantry_paramSet gantry function related parameter
APS_get_gantry_paramGet gantry function related parameter
APS_set_gantry_axisSet two axes in a gantry group
APS_get_gantry_axisGet which axes in a gantry group
APS_get_gantry_errorGet gantry axes deviation error
APS_get_encoderGet encoder( Be used for compensation of gantry home return)
APS_get_latch_eventGet latch event by axis( Be used for compensation of gantry home return)
APS_get_latch_counterGet latch counter by axis( Be used for compensation of gantry home return)
18Compare trigger
APS_set_trigger_paramSet compare trigger related parameter
APS_get_trigger_paramGet compare trigger related parameter
APS_set_trigger_linearSet linear comparing function
APS_set_trigger_tableSet table comparing function
APS_set_trigger_manualManual output trigger
APS_set_trigger_manual_sManual output trigger synchronously
APS_get_trigger_table_cmpGet current table comparing value
APS_get_trigger_linear_cmpGet current linear comparing value
APS_get_trigger_countGet triggered count.
APS_reset_trigger_countReset triggered count.
20Manual Pulse Generator functions
APS_get_pulser_counterGet pluse input counter
27VAO/PWM functions ( Laser function )
APS_set_vao_paramSet parameter to VAO table
APS_get_vao_paramGet parameter of VAO table
APS_set_vao_tableSet VAO table
APS_switch_vao_tableSwitch to specified VAO table
APS_start_vaoEnable VAO output channel
APS_get_vao_statusGet VAO status
APS_check_vao_paramCheck parameters setting of specified VAO table
APS_set_vao_param_exSet table parameters via VAO structure
APS_get_vao_param_exGet table parameters via VAO structure
APS_set_pwm_onStart to output PWM signal
APS_set_pwm_widthSet pulse width to a PWM channel
APS_set_pwm_frequencySet pulse frequency to a PWM channel
APS_get_pwm_widthGet pulse width from a PWM channel
APS_get_pwm_frequencyGet pulse frequency from a PWM channel
38Table definition
PCI-8253/56 board parameter table
PCI-8253/56 Axis parameter table
Sampling parameter table for PCI-8392(H), PCI-8253/56, MNET-4XMO, PCI-8254/58 / AMP-204/8C, PCIe-833x and PCIe-8364RS
PCI-8253/56 sampling source table
PCI-8253/56 motion IO status table
PCI-8392(H), 8253/56 Motion status definition table
PCI-8253/56 Interrupt Item Definition Table
Gantry parameters table
PCI-8253/56 Trigger parameter table
Device information table
VAO parameter table
APS Functions Return Code
List of all functions for PCI-8144
Sec.Function nameDescriptions
3System and Initialization
APS_initialDevice initialization
APS_closeDevice close
APS_versionGet the version of the library
APS_device_driver_versionGet the driver's version of devices
APS_get_axis_infoGet the information of the specified axis
APS_get_card_nameGet card index
APS_set_axis_paramSet axis parameter
APS_get_axis_paramGet axis parameter
APS_get_device_infoGet device information
APS_set_security_keySet security password
APS_check_security_keyVarify security password
APS_reset_security_keyReset security password
APS_load_param_from_fileLoad parameters from file
5Motion IO and motion status
APS_motion_statusReturn motion status
APS_motion_io_statusReturn motion IO status
APS_get_commandGet command position
APS_set_commandSet command position
APS_get_command_velocityGet command velocity
6Single axis motion
APS_relative_moveBegin a relative distance move
APS_velocity_moveBegin a velocity move
APS_home_moveBegin a home move
APS_stop_moveStop move
APS_emg_stopEmergency stop
11Interrupt
APS_int_enableInterrupt main switch
APS_set_int_factorEnable/Disable interrupt factor and getinterrupt handle.
APS_get_int_factorGet interrupt factor enable or disable
APS_wait_single_intWait single interrupt event
APS_wait_multiple_intWait multiple interrupt events
APS_reset_intReset interrupt event to non-signaled state.
APS_set_intSet interrupt event to signaled state.
APS_set_int_factorHEnable/Disable interrupt factor and get interrupt handle.(Win32)
APS_register_int_callbackRegister interrupt callback function
13DIO & AIO
APS_write_d_outputSet digital output value
APS_read_d_outputRead digital output value
APS_read_d_inputRead digital input value
23Non-Volatile RAM
APS_set_nv_ramSet RAM data
APS_get_nv_ramGet RAM data
APS_clear_nv_ramClear RAM data
38Table definition
PCI-8144 Axis parameter table
PCI-8144 & AMP-104C motion IO status table
PCI-8144 & AMP-104C Motion status definition table
PCI-8144 Interrupt Item Definition Table
Device information table
APS Functions Return Code
List of all functions for AMP-104C
Sec.Function nameDescriptions
3System and Initialization
APS_initialDevice initialization
APS_closeDevice close
APS_versionGet the version of the library
APS_device_driver_versionGet the driver's version of devices
APS_get_axis_infoGet the information of the specified axis
APS_get_card_nameGet card index
APS_set_axis_paramSet axis parameter
APS_get_axis_paramGet axis parameter
APS_get_device_infoGet device information
APS_set_security_keySet security password
APS_check_security_keyVarify security password
APS_reset_security_keyReset security password
APS_load_param_from_fileLoad parameters from file
5Motion IO and motion status
APS_motion_statusReturn motion status
APS_motion_io_statusReturn motion IO status
APS_get_commandGet command position
APS_set_commandSet command position
APS_get_command_velocityGet command velocity
APS_get_encoderGet raw feedback counter
6Single axis motion
APS_relative_moveBegin a relative distance move
APS_absolute_moveBegin a absolute position move
APS_velocity_moveBegin a velocity move
APS_home_moveBegin a home move
APS_stop_moveStop move
APS_emg_stopEmergency stop
9Interpolation
APS_absolute_linear_moveBegin an absolute position linear interpolation
APS_relative_linear_moveBegin a relative distance linear interpolation
11Interrupt
APS_int_enableInterrupt main switch
APS_set_int_factorEnable/Disable interrupt factor and get interrupt handle.
APS_get_int_factorGet interrupt factor enable or disable
APS_wait_single_intWait single interrupt event
APS_wait_multiple_intWait multiple interrupt events
APS_reset_intReset interrupt event to non-signaled state.
APS_set_intSet interrupt event to signaled state.
APS_set_int_factorHEnable/Disable interrupt factor and get interrupt handle.(Win32)
APS_register_int_callbackRegister interrupt callback function
13DIO & AIO
APS_write_d_outputSet digital output value
APS_read_d_outputRead digital output value
APS_read_d_inputRead digital input value
31Multi-latch functions
APS_get_ltc_fifo_pointGet latch point array
APS_set_ltc_fifo_paramSet latch parameter value
APS_get_ltc_fifo_paramGet latch parameter value
APS_reset_ltc_fifoReset latch queue and fifo
APS_get_ltc_fifo_usageGet latch queue used space
APS_get_ltc_fifo_free_spaceGet latch queue free space
APS_get_ltc_fifo_statusGet latch queue and fifo status
38Table definition
AMP-104C Axis parameter table
PCI-8144 & AMP-104C motion IO status table
PCI-8144 & AMP-104C Motion status definition table
AMP-104C Interrupt Item Definition Table
AMP-104C Latch parameter table
Device information table
APS Functions Return Code
List of all functions for PCI(e)-7856
Sec.Function nameDescriptions
3System and Initialization
APS_initialDevice initialization
APS_closeDevice close
APS_versionGet the version of the library
APS_device_driver_versionGet the driver's version of devices
APS_get_axis_infoGet the information of the specified axis
APS_get_card_nameGet card index
APS_set_board_paramSet board parameter
APS_get_board_paramGet board parameter
APS_get_device_infoGet device information
APS_save_param_to_fileSave parameters to file
APS_load_param_from_fileLoad parameters from file
11Interrupt
APS_int_enableInterrupt main switch
APS_set_int_factorEnable/Disable interrupt factor and get interrupt handle.
APS_get_int_factorGet interrupt factor enable or disable
APS_wait_single_intWait single interrupt event
APS_wait_multiple_intWait multiple interrupt events
APS_reset_intReset interrupt event to non-signaled state.
APS_set_intSet interrupt event to signaled state.
APS_set_int_factorHEnable/Disable interrupt factor and get interrupt handle.(Win32)
APS_register_int_callbackRegister interrupt callback function
16Field bus functions
APS_set_field_bus_paramSet field bus related parameters
APS_get_field_bus_paramGet field bus related parameters
APS_start_field_busStart the network of specified field bus
APS_stop_field_busStop the network of specified field bus
APS_field_bus_d_set_outputSet field bus digital output
APS_field_bus_d_get_outputGet field bus digital output
APS_field_bus_d_get_inputGet field bus digital input
APS_set_field_bus_slave_paramSet parameter to field bus slave module
APS_get_field_bus_slave_paramGet parameter from field bus slave module
APS_set_field_bus_a_outputSet field bus analog output
APS_get_field_bus_a_outputGet field bus analog output
APS_get_field_bus_a_inputGet field bus analog input
APS_get_slave_connect_qualityGet the connected quality of slave
APS_get_slave_online_statusGet the online status of slave
APS_get_field_bus_last_scan_infoGet fieldbus info after system scanning.
APS_get_field_bus_master_typeGet master type of the fieldbus
APS_get_field_bus_slave_typeGet slave type on the fieldbus
APS_get_field_bus_slave_nameGet slave name on the fieldbus
APS_get_field_bus_slave_first_axisnoGet first axis of the slave module
APS_get_field_bus_device_infoGet device information on a specified field bus
APS_field_bus_d_set_output_exSet field bus digital output for 64 bit DIO operation
APS_field_bus_d_get_output_exGet field bus digital output for 64 bit DIO operation
APS_field_bus_d_get_input_exGet field bus digital input for 64 bit DIO operation
23Non-Volatile RAM
APS_set_nv_ramSet RAM data
APS_get_nv_ramGet RAM data
APS_clear_nv_ramClear RAM data
38Table definition
PCI(e)-7856 board parameter table
Field bus parameter table
PCI(e)-7856 Interrupt Item Definition Table
Device information table
APS Functions Return Code List of all functions for MNET-4XMO
Sec.Function nameDescriptions
3System and Initialization
APS_get_axis_infoGet the information of the specified axis
APS_set_axis_paramSet axis parameter
APS_get_axis_paramGet axis parameter
APS_save_param_to_fileSave parameters to file
APS_load_param_from_fileLoad parameters from file
5Motion IO and motion status
APS_motion_statusReturn motion status
APS_motion_io_statusReturn motion IO status
APS_set_servo_onSet servo ON/OFF
APS_get_positionGet feedback position
APS_set_positionSet feedback position
APS_get_commandGet command position
APS_set_commandSet command position
APS_get_command_velocityGet command velocity
APS_get_error_positionGet error position
APS_get_target_positionGet target position
APS_get_position_fGet feedback position by double
APS_set_position_fSet feedback position by double
APS_get_command_fGet command position by double
APS_set_command_fSet command position by double
APS_get_command_velocity_fGet command velocity by double
APS_get_error_position_fGet error position by double
APS_get_target_position_fGet target position by double
6Single axis motion
APS_relative_moveBegin a relative distance move
APS_absolute_moveBegin a absolute position move
APS_velocity_moveBegin a velocity move
APS_home_moveBegin a home move
APS_stop_moveStop move
APS_emg_stopEmergency stop
APS_home_escapeLeave home switch
9Interpolation
APS_absolute_linear_moveBegin an absolute position linear interpolation
APS_relative_linear_moveBegin a relative distance linear interpolation
APS_absolute_arc_moveBegin an absolute position circular interpolation
APS_relative_arc_moveBegin a relative distance circular interpolation
11Interrupt
APS_int_enableInterrupt main switch
APS_reset_field_bus_int_motionReset interrupt status of axes for MotionNet series.
APS_set_field_bus_int_factor_motionEnable/Disable motion interrupt factor and get interrupt handle for MotionNet series.
APS_get_field_bus_int_factor_motionGet motion interrupt factor enable or disable for MotionNet series.
APS_set_field_bus_int_factor_errorEnable/Disable error interrupt factor and get interrupt handle for MotionNet series.
APS_get_field_bus_int_factor_errorGet error interrupt factor status for MotionNet series.
APS_wait_single_intWait single interrupt event
APS_wait_multiple_intWait multiple interrupt events
APS_reset_intReset interrupt event to non-signaled state.
APS_set_intSet interrupt event to signaled state.
APS_int_no_to_handleConvert interrupt event number to interrupt handle.(Win32)
APS_wait_field_bus_error_int_motionWait error interrupt event for MotionNet series.
12Sampling
APS_set_sampling_paramSet sampling parameter.
APS_get_sampling_paramGet sampling parameter.
APS_wait_trigger_samplingWaiting for sample data.
APS_wait_trigger_sampling_asyncWaiting for sample data asynchronously
APS_get_sampling_countGet sampled data count
APS_stop_wait_samplingForce stop wait sampling
16Field bus functions
APS_set_field_bus_paramSet field bus related parameters
APS_get_field_bus_paramGet field bus related parameters
APS_start_field_busStart the network of specified field bus
APS_stop_field_busStop the network of specified field bus
APS_field_bus_d_set_outputSet field bus digital output
APS_field_bus_d_get_outputGet field bus digital output
APS_field_bus_d_get_inputGet field bus digital input
APS_get_slave_online_statusGet the online status of slave
APS_get_field_bus_last_scan_infoGet fieldbus info after system scanning.
APS_get_field_bus_master_typeGet master type of the fieldbus
APS_get_field_bus_slave_typeGet slave type on the fieldbus
APS_get_field_bus_slave_nameGet slave name on the fieldbus
APS_get_field_bus_slave_first_axisnoGet first axis of the slave module
APS_get_field_bus_device_infoGet device information on a specified field bus
29Simultaneous move functions
APS_set_relative_simultaneous_moveSetup a relative simultaneous move
APS_set_absolute_simultaneous_moveSetup a absolute simultaneous move
APS_start_simultaneous_moveBegin a simultaneous move
APS_stop_simultaneous_moveStop a simultaneous move
30Single latch functions
APS_manual_latch2Manual latch for a axis
APS_get_latch_data2Get latch data for a axis
38Table definition
MNET-4XMO-(C) Axis parameter table
MNET-4XMO-(C)/1XMO,HSL-4XMO,PCI(e)-8154/8158, PCI-8102/PCI-C154(+), AMP-304C motion IO status table
MNET-4XMO-(C), HSL-4XMO, PCI(e)-8154/8158, PCI-8102 /PCI-C154(+), AMP-304CMotion status definition table
MotionNet Interrupt Item Definition Table
Field bus parameter table
Device information table
APS Functions Return Code
List of all functions for MNET-4XMO-C
Sec.Function nameDescriptions
3System and Initialization
APS_get_axis_infoGet the information of the specified axis
APS_set_axis_paramSet axis parameter
APS_get_axis_paramGet axis parameter
APS_save_param_to_fileSave parameters to file
APS_load_param_from_fileLoad parameters from file
5Motion IO and motion status
APS_motion_statusReturn motion status
APS_motion_io_statusReturn motion IO status
APS_set_servo_onSet servo ON/OFF
APS_get_positionGet feedback position
APS_set_positionSet feedback position
APS_get_commandGet command position
APS_set_commandSet command position
APS_get_command_velocityGet command velocity
APS_get_error_positionGet error position
APS_get_target_positionGet target position
APS_get_position_fGet feedback position by double
APS_set_position_fSet feedback position by double
APS_get_command_fGet command position by double
APS_set_command_fSet command position by double
APS_get_command_velocity_fGet command velocity by double
APS_get_error_position_fGet error position by double
6Single axis motion
APS_relative_moveBegin a relative distance move
APS_absolute_moveBegin a absolute position move
APS_velocity_moveBegin a velocity move
APS_home_moveBegin a home move
APS_stop_moveStop move
APS_emg_stopEmergency stop
APS_home_escapeLeave home switch
9Interpolation
APS_absolute_linear_moveBegin an absolute position linear interpolation
APS_relative_linear_moveBegin a relative distance linear interpolation
APS_absolute_arc_moveBegin an absolute position circular interpolation
APS_relative_arc_moveBegin a relative distance circular interpolation
11Interrupt
APS_int_enableInterrupt main switch
APS_reset_field_bus_int_motionReset interrupt status of axes for MotionNet series.
APS_set_field_bus_int_factor_motionEnable/Disable motion interrupt factor and get interrupt handle for MotionNet series.
APS_get_field_bus_int_factor_motionGet motion interrupt factor enable or disable for MotionNet series.
APS_set_field_bus_int_factor_errorEnable/Disable error interrupt factor and get interrupt handle for MotionNet series.
APS_get_field_bus_int_factor_errorGet error interrupt factor status for MotionNet series.
APS_wait_single_intWait single interrupt event
APS_wait_multiple_intWait multiple interrupt events
APS_reset_intReset interrupt event to non-signaled state.
APS_set_intSet interrupt event to signaled state.
APS_int_no_to_handleConvert interrupt event number to interrupt handle.(Win32)
APS_wait_field_bus_error_int_motionWait error interrupt event for MotionNet series.
12Sampling
APS_set_sampling_paramSet sampling parameter.
APS_get_sampling_paramGet sampling parameter.
APS_wait_trigger_samplingWaiting for sample data.
APS_wait_trigger_sampling_asyncWaiting for sample data asynchronously
APS_get_sampling_countGet sampled data count
APS_stop_wait_samplingForce stop wait sampling
14Point table motion
APS_set_point_table_mode2Set point table mode
APS_set_point_table2Set point table
APS_point_table_continuous_move2Start a point table continuous move
APS_point_table_single_move2Start a point table single move
APS_get_running_point_index2Get current point move index when axis is perform a point move
APS_point_table_status2Get point table stauts
16Field bus functions
APS_set_field_bus_paramSet field bus related parameters
APS_get_field_bus_paramGet field bus related parameters
APS_start_field_busStart the network of specified field bus
APS_stop_field_busStop the network of specified field bus
APS_field_bus_d_set_outputSet field bus digital output
APS_field_bus_d_get_outputGet field bus digital output
APS_field_bus_d_get_inputGet field bus digital input
APS_get_slave_online_statusGet the online status of slave
APS_get_field_bus_last_scan_infoGet fieldbus info after system scanning.
APS_get_field_bus_master_typeGet master type of the fieldbus
APS_get_field_bus_slave_typeGet slave type on the fieldbus
APS_get_field_bus_slave_nameGet slave name on the fieldbus
APS_get_field_bus_slave_first_axisnoGet first axis of the slave module
APS_get_field_bus_device_infoGet device information on a specified field bus
24Field bus compare trigger
APS_set_field_bus_trigger_paramSet compare trigger related parameter
APS_get_field_bus_trigger_paramGet compare trigger related parameter
APS_set_field_bus_trigger_linearSet linear comparing function
APS_set_field_bus_trigger_tableSet table comparing function
APS_set_field_bus_trigger_manualManual output trigger
APS_set_field_bus_trigger_manual_sManual output trigger synchronously
APS_get_field_bus_trigger_table_cmpGet current table comparing value
APS_get_field_bus_trigger_linear_cmpGet current linear comparing value
APS_get_field_bus_trigger_countGet triggered count.
APS_reset_field_bus_trigger_countReset triggered count.
APS_get_field_bus_linear_cmp_remain_countGet remaining counter of linear comparator
APS_get_field_bus_table_cmp_remain_countGet remaining counter of table comparator
APS_get_field_bus_encoderGet encoder counter
APS_set_field_bus_encoderSet encoder counter
29Simultaneous move functions
APS_set_relative_simultaneous_moveSetup a relative simultaneous move
APS_set_absolute_simultaneous_moveSetup a absolute simultaneous move
APS_start_simultaneous_moveBegin a simultaneous move
APS_stop_simultaneous_moveStop a simultaneous move
30Single latch functions
APS_manual_latch2Manual latch for a axis
APS_get_latch_data2Get latch data for a axis
38Table definition
MNET-4XMO-(C) Axis parameter table
MNET-4XMO-(C)/1XMO,HSL-4XMO,PCI(e)-8154/8158, PCI-8102/PCI-C154(+), AMP-304C motion IO status table
MNET-4XMO-(C), HSL-4XMO, PCI(e)-8154/8158, PCI-8102 /PCI-C154(+), AMP-304C Motion status definition table
MotionNet Interrupt Item Definition Table
Field bus parameter table
MNET-4XMO-C Trigger parameter table
Device information table
APS Functions Return Code
List of all functions for MNET-1XMO
Sec.Function nameDescriptions
3System and Initialization
APS_get_axis_infoGet the information of the specified axis
APS_set_axis_paramSet axis parameter
APS_get_axis_paramGet axis parameter
APS_save_param_to_fileSave parameters to file
APS_load_param_from_fileLoad parameters from file
5Motion IO and motion status
APS_motion_statusReturn motion status
APS_motion_io_statusReturn motion IO status
APS_set_servo_onSet servo ON/OFF
APS_get_positionGet feedback position
APS_set_positionSet feedback position
APS_get_commandGet command position
APS_set_commandSet command position
APS_get_command_velocityGet command velocity
APS_get_error_positionGet error position
APS_get_target_positionGet target position
APS_get_position_fGet feedback position by double
APS_set_position_fSet feedback position by double
APS_get_command_fGet command position by double
APS_set_command_fSet command position by double
APS_get_command_velocity_fGet command velocity by double
APS_get_error_position_fGet error position by double
APS_get_target_position_fGet target position by double
6Single axis motion
APS_relative_moveBegin a relative distance move
APS_absolute_moveBegin a absolute position move
APS_velocity_moveBegin a velocity move
APS_home_moveBegin a home move
APS_stop_moveStop move
APS_emg_stopEmergency stop
APS_speed_overrideChange speed on the fly
APS_relative_move_ovrdBegin a relative distance move or override it with new distance and speed
APS_absolute_move_ovrdBegin an absolute position move or override it with new position and speed
APS_home_escapeLeave home switch
11Interrupt
APS_int_enableInterrupt main switch
APS_reset_field_bus_int_motionReset interrupt status of axes for MotionNet series.
APS_set_field_bus_int_factor_motionEnable/Disable motion interrupt factor and get interrupt handle for MotionNet series.
APS_get_field_bus_int_factor_motionGet motion interrupt factor enable or disable for MotionNet series.
APS_set_field_bus_int_factor_errorEnable/Disable error interrupt factor and get interrupt handle for MotionNet series.
APS_get_field_bus_int_factor_errorGet error interrupt factor status for MotionNet series.
APS_wait_single_intWait single interrupt event
APS_wait_multiple_intWait multiple interrupt events
APS_reset_intReset interrupt event to non-signaled state.
APS_set_intSet interrupt event to signaled state.
APS_int_no_to_handleConvert interrupt event number to interrupt handle.(Win32)
APS_wait_field_bus_error_int_motionWait error interrupt event for MotionNet series.
16Field bus functions
APS_set_field_bus_paramSet field bus related parameters
APS_get_field_bus_paramGet field bus related parameters
APS_start_field_busStart the network of specified field bus
APS_stop_field_busStop the network of specified field bus
APS_field_bus_d_set_outputSet field bus digital output
APS_field_bus_d_get_outputGet field bus digital output
APS_get_slave_online_statusGet the online status of slave
APS_get_field_bus_last_scan_infoGet fieldbus info after system scanning.
APS_get_field_bus_master_typeGet master type of the fieldbus
APS_get_field_bus_slave_typeGet slave type on the fieldbus
APS_get_field_bus_slave_nameGet slave name on the fieldbus
APS_get_field_bus_slave_first_axisnoGet first axis of the slave module
30Single latch functions
APS_manual_latch2Manual latch for a axis
APS_get_latch_data2Get latch data for a axis
38Table definition
MNET-1XMO Axis parameter table
MNET-4XMO-(C)/1XMO,HSL-4XMO,PCI(e)-8154/8158, PCI-8102/PCI-C154(+), AMP-304C motion IO status table
1XMO Motion status definition table
MotionNet Interrupt Item Definition Table
Field bus parameter table
APS Functions Return Code
List of all functions for HSL-4XMO
Sec.Function nameDescriptions
3System and Initialization
APS_get_axis_infoGet the information of the specified axis
APS_set_axis_paramSet axis parameter
APS_get_axis_paramGet axis parameter
APS_load_param_from_fileLoad parameters from file
5Motion IO and motion status
APS_motion_statusReturn motion status
APS_motion_io_statusReturn motion IO status
APS_set_servo_onSet servo ON/OFF
APS_get_positionGet feedback position
APS_set_positionSet feedback position
APS_get_commandGet command position
APS_set_commandSet command position
APS_get_command_velocityGet command velocity
APS_get_error_positionGet error position
APS_get_target_positionGet target position
6Single axis motion
APS_relative_moveBegin a relative distance move
APS_absolute_moveBegin a absolute position move
APS_velocity_moveBegin a velocity move
APS_home_moveBegin a home move
APS_stop_moveStop move
APS_emg_stopEmergency stop
9Interpolation
APS_absolute_linear_moveBegin an absolute position linear interpolation
APS_relative_linear_moveBegin a relative distance linear interpolation
APS_absolute_arc_moveBegin an absolute position circular interpolation
APS_relative_arc_moveBegin a relative distance circular interpolation
14Point table motion
APS_set_point_table3Set point table
APS_point_table_move3Start a point table single move
APS_set_point_table_param3Set speed parameter
16Field bus functions
APS_set_field_bus_paramSet field bus related parameters
APS_get_field_bus_paramGet field bus related parameters
APS_start_field_busStart the network of specified field bus
APS_stop_field_busStop the network of specified field bus
APS_field_bus_d_set_outputSet field bus digital output
APS_field_bus_d_get_outputGet field bus digital output
APS_field_bus_d_get_inputGet field bus digital input
APS_get_slave_online_statusGet the online status of slave
APS_get_field_bus_last_scan_infoGet fieldbus info after system scanning.
APS_get_field_bus_master_typeGet master type of the fieldbus
APS_get_field_bus_slave_typeGet slave type on the fieldbus
APS_get_field_bus_slave_nameGet slave name on the fieldbus
APS_get_field_bus_slave_first_axisnoGet first axis of the slave module
APS_get_field_bus_device_infoGet device information on a specified field bus
24Field bus compare trigger
APS_set_field_bus_trigger_paramSet compare trigger related parameter
APS_get_field_bus_trigger_paramGet compare trigger related parameter
APS_set_field_bus_trigger_linearSet linear comparing function
APS_set_field_bus_trigger_tableSet table comparing function
APS_get_field_bus_trigger_table_cmpGet current table comparing value
APS_get_field_bus_trigger_linear_cmpGet current linear comparing value
38Table definition
HSL-4XMO Axis parameter table
MNET-4XMO-(C)/1XMO,HSL-4XMO,PCI(e)-8154/8158, PCI-8102/PCI-C154(+), AMP-304C
motion IO status table
MNET-4XMO-(C), HSL-4XMO, PCI(e)-8154/8158, PCI-8102 /PCI-C154(+), AMP-304CMotion status definition table
Field bus parameter table
HSL-4XMO Trigger parameter table
Device information table
APS Functions Return Code
List of all functions for HSL-DIO
Sec.Function nameDescriptions
11Interrupt
APS_int_enableInterrupt main switch
APS_set_field_bus_int_factor_diAssign DI interrupt bits and get interrupt handle for HSL series.
APS_get_field_bus_int_factor_diGet DI interrupt bits assigned
APS_wait_single_intWait single interrupt event
APS_wait_multiple_intWait multiple interrupt events
APS_reset_intReset interrupt event to non-signaled state.
APS_set_intSet interrupt event to signaled state.
16Field bus functions
APS_set_field_bus_paramSet field bus related parameters
APS_get_field_bus_paramGet field bus related parameters
APS_start_field_busStart the network of specified field bus
APS_stop_field_busStop the network of specified field bus
APS_field_bus_d_set_outputSet field bus digital output
APS_field_bus_d_get_outputGet field bus digital output
APS_field_bus_d_get_inputGet field bus digital input
APS_get_slave_online_statusGet the online status of slave
APS_get_field_bus_last_scan_infoGet fieldbus info after system scanning.
APS_get_field_bus_master_typeGet master type of the fieldbus
APS_get_field_bus_slave_typeGet slave type on the fieldbus
APS_get_field_bus_slave_nameGet slave name on the fieldbus
38Table definition
Field bus parameter table
APS Functions Return Code
List of all functions for PCI-8102 / PCI-C154(+)
Sec.Function nameDescriptions
3System and Initialization
APS_initialDevice initialization
APS_closeDevice close
APS_versionGet the version of the library
APS_device_driver_versionGet the driver's version of devices
APS_get_axis_infoGet the information of the specified axis
APS_get_card_nameGet card index
APS_set_axis_paramSet axis parameter
APS_get_axis_paramGet axis parameter
APS_get_device_infoGet device information
APS_load_param_from_fileLoad parameters from file
5Motion IO and motion status
APS_motion_statusReturn motion status
APS_motion_io_statusReturn motion IO status
APS_set_servo_onSet servo ON/OFF
APS_get_positionGet feedback position
APS_set_positionSet feedback position
APS_get_commandGet command position
APS_set_commandSet command position
APS_get_command_velocityGet command velocity
APS_get_error_positionGet error position
APS_get_target_positionGet target position
APS_get_position_fGet feedback position by double
APS_set_position_fSet feedback position by double
APS_get_command_fGet command position by double
APS_set_command_fSet command position by double
APS_get_command_velocity_fGet command velocity by double
APS_get_error_position_fGet error position by double
APS_get_target_position_fGet target position by double
6Single axis motion
APS_relative_moveBegin a relative distance move
APS_absolute_moveBegin a absolute position move
APS_velocity_moveBegin a velocity move
APS_home_moveBegin a home move
APS_stop_moveStop move
APS_emg_stopEmergency stop
APS_speed_overrideChange speed on the fly (PCI-C154+ only)
APS_relative_move_ovrdBegin a relative distance move or override it with new distance and speed (PCI-C154+ only)
APS_absolute_move_ovrdBegin an absolute position move or override it with new position and speed (PCI-C154+ only)
APS_home_escapeLeave home switch
9Interpolation
APS_absolute_linear_moveBegin an absolute position linear interpolation
APS_relative_linear_moveBegin a relative distance linear interpolation
APS_absolute_arc_moveBegin an absolute position circular interpolation
APS_relative_arc_moveBegin a relative distance circular interpolation
11Interrupt
APS_int_enableInterrupt main switch
APS_set_int_factorEnable/Disable interrupt factor and get interrupt handle.
APS_get_int_factorGet interrupt factor enable or disable
APS_wait_single_intWait single interrupt event
APS_wait_multiple_intWait multiple interrupt events
APS_wait_error_intWait error interrupts( Non-mask )
APS_reset_intReset interrupt event to non-signaled state.
APS_set_intSet interrupt event to signaled state.
APS_set_int_factorHEnable/Disable interrupt factor and get interrupt handle.(Win32)
APS_int_no_to_handleConvert interrupt event number to interrupt handle.(Win32)
APS_register_int_callbackRegister interrupt callback function
13DIO & AIO
APS_write_d_outputSet digital output value
APS_read_d_outputRead digital output value
APS_read_d_inputRead digital input value
18Compare trigger
APS_set_trigger_paramSet trigger parameters
APS_get_trigger_paramGet compare trigger related parameter
APS_reset_trigger_countReset trigger counter
APS_get_trigger_countGet trigger counter
APS_enable_trigger_fifo_cmpEnable trigger fifo comparator
APS_get_trigger_fifo_cmpGet trigger fifo comparator
APS_get_trigger_fifo_statusGet trigger fifo status
APS_set_trigger_fifo_dataSet trigger fifo data
APS_set_trigger_linearSet trigger linear comparator
APS_get_trigger_linear_cmpGet trigger linear comparator
APS_set_trigger_manualSet trigger manual
APS_set_trigger_manual_sManual output trigger synchronously
APS_start_timerStart timer(simulate for encoder)
APS_get_timer_counterGet timer count value(simulate for encoder)
APS_set_timer_counterSet timer count value(simulate for encoder)
APS_start_trigger_timerStart timer(generate trigger signal)
APS_get_trigger_timer_counterGet timer count value(generate trigger signal)
APS_set_trigger_encoder_counterSet trigger encoder counter
APS_get_trigger_encoder_counterGet trigger encoder counter
20Manual Pulse Generator functions
APS_manual_pulser_startEnable/Disable PA/PB input
APS_manual_pulser_velocity_moveBegin a pulser velocity move
APS_manual_pulser_relative_moveBegin a pulser relative distance move
APS_manual_pulser_home_moveBegin a pulser home move
29Simultaneous move functions (PCI-C154+ only)
APS_set_relative_simultaneous_moveSetup a relative simultaneous move
APS_set_absolute_simultaneous_moveSetup a absolute simultaneous move
APS_start_simultaneous_moveBegin a simultaneous move
APS_stop_simultaneous_moveStop a simultaneous move
30Single latch functions
APS_manual_latch2Manual latch for a axis
APS_get_latch_data2Get latch data for a axis
31Multi-latch functions
APS_set_ltc_counterSet latch counter
APS_get_ltc_counterGet latch data for a axis
APS_set_ltc_fifo_paramSet latch parameter
APS_get_ltc_fifo_paramGet latch parameter
APS_manual_latchLatch data manually and synchronously.
APS_enable_ltc_fifoEnable/Disable ltc fifo
APS_reset_ltc_fifoReset ltc fifo
APS_get_ltc_fifo_dataGet one latch data from fifo
APS_get_ltc_fifo_usageGet usage of latch fifo
APS_get_ltc_fifo_free_spaceGet free space of latch fifo
APS_get_ltc_fifo_statusGet fifo status
33Speed Profile Calculation
APS_relative_move_profileGet relative speed profile
APS_absolute_move_profileGet absolute speed profile
38Table definition
PCI(e)-8154/8158, PCI-8102/PCI-C154(+) Axis parameter table
MNET-4XMO-(C)/1XMO,HSL-4XMO,PCI(e)-8154/8158, PCI-8102/PCI-C154(+), AMP-304C
motion IO status table
MNET-4XMO-(C), HSL-4XMO, PCI(e)-8154/8158, PCI-8102 /PCI-C154(+), AMP-304CMotion status definition table
PCI(e)-8154/8158, PCI-8102 Interrupt Item Definition Table / PCI-C154(+) Interrupt ItemDefinition Table
PCI - C154(+) Trigger parameter table(PCI-C154+ only)
PCI-C154(+) Latch parameter table(PCI-C154+ only)
Device information table
APS Functions Return Code
List of all functions for PCI-8154/8158
Sec.Function nameDescriptions
3System and Initialization
APS_initialDevice initialization
APS_closeDevice close
APS_versionGet the version of the library
APS_device_driver_versionGet the driver's version of devices
APS_get_axis_infoGet the information of the specified axis
APS_get_card_nameGet card index
APS_set_axis_paramSet axis parameter
APS_get_axis_paramGet axis parameter
APS_get_device_infoGet device information
APS_set_security_keySet security password
APS_check_security_keyVarify security password
APS_reset_security_keyReset security password
APS_load_param_from_fileLoad parameters from file
5Motion IO and motion status
APS_motion_statusReturn motion status
APS_motion_io_statusReturn motion IO status
APS_set_servo_onSet servo ON/OFF
APS_get_positionGet feedback position
APS_set_positionSet feedback position
APS_get_commandGet command position
APS_set_commandSet command position
APS_get_command_velocityGet command velocity
APS_get_error_positionGet error position
APS_get_target_positionGet target position
APS_get_position_fGet feedback position by double
APS_set_position_fSet feedback position by double
APS_get_command_fGet command position by double
APS_set_command_fSet command position by double
APS_get_command_velocity_fGet command velocity by double
APS_get_error_position_fGet error position by double
APS_get_target_position_fGet target position by double
6Single axis motion
APS_relative_moveBegin a relative distance move
APS_absolute_moveBegin a absolute position move
APS_velocity_moveBegin a velocity move
APS_home_moveBegin a home move
APS_stop_moveStop move
APS_emg_stopEmergency stop
APS_speed_overrideChange speed on the fly
APS_relative_move_ovrdBegin a relative distance move or override it with new distance and speed
APS_absolute_move_ovrdBegin an absolute position move or override it with new position and speed
APS_home_escapeLeave home switch
9Interpolation
APS_absolute_linear_moveBegin an absolute position linear interpolation
APS_relative_linear_moveBegin a relative distance linear interpolation
APS_absolute_arc_moveBegin an absolute position circular interpolation
APS_relative_arc_moveBegin a relative distance circular interpolation
APS_absolute_helical_moveBegin an absolute position helical interpolation
APS_relative_helical_moveBegin a relative distance helical interpolation
10Advanced single move & interpolation
APS_ptp_vBegin a single move with Vm profile
APS_ptp_allBegin a single move with all profile
APS_velBegin a velocity move
APS_vel_allBegin a velocity move with all profile
APS_lineBegin a line move
APS_line_vBegin a line move with Vm profile
APS_line_allBegin a line move with all profile
APS_arc2_caBegin an Arc2 move of angle type
APS_arc2_ca_vBegin an Arc2 move of angle type with Vm profile
APS_arc2_ca_allBegin an Arc2 move of angle type with all profile
APS_arc2_ceBegin an Arc2 move of end position
APS_arc2_ce_vBegin an Arc2 move of end position with Vm profile
APS_arc2_ce_allBegin an Arc2 move of end position with all profile
APS_spiral_ceBegin a 3D spiral-helix move of end position
APS_spiral_ce_vBegin a 3D spiral-helix move of end position with Vm profile
APS_spiral_ce_allBegin a 3D spiral-helix move of end position with all profile
11Interrupt
APS_int_enableInterrupt main switch
APS_set_int_factorEnable/Disable interrupt factor and get interrupt handle.
APS_get_int_factorGet interrupt factor enable or disable
APS_wait_single_intWait single interrupt event
APS_wait_multiple_intWait multiple interrupt events
APS_wait_error_intWait error interrupts( Non-mask )
APS_reset_intReset interrupt event to non-signaled state.
APS_set_intSet interrupt event to signaled state.
APS_set_int_factorHEnable/Disable interrupt factor and get interrupt handle.(Win32)
APS_int_no_to_handleConvert interrupt event number to interrupt handle.(Win32)
APS_register_int_callbackRegister interrupt callback function
13DIO & AIO
APS_write_d_outputSet digital output value
APS_read_d_outputRead digital output value
APS_read_d_inputRead digital input value
18Compare trigger (only DB-8150)
APS_set_trigger_paramSet trigger parameters
APS_get_trigger_paramGet compare trigger related parameter
APS_reset_trigger_countReset trigger counter
APS_get_trigger_countGet trigger counter
APS_enable_trigger_fifo_cmpEnable trigger fifo comparator
APS_get_trigger_fifo_cmpGet trigger fifo comparator
APS_get_trigger_fifo_statusGet trigger fifo status
APS_set_trigger_fifo_dataSet trigger fifo data
APS_set_trigger_linearSet trigger linear comparator
APS_get_trigger_linear_cmpGet trigger linear comparator
APS_set_trigger_manualSet trigger manual
APS_start_timerStart timer(simulate for encoder)
29Simultaneous move functions
APS_set_relative_simultaneous_moveSetup a relative simultaneous move
APS_set_absolute_simultaneous_moveSetup a absolute simultaneous move
APS_start_simultaneous_moveBegin a simultaneous move
APS_stop_simultaneous_moveStop a simultaneous move
30Single latch functions
APS_manual_latch2Manual latch for a axis
APS_get_latch_data2Get latch data for a axis
32Ring counter functions
APS_set_ring_counterEnable ring counter function
APS_get_ring_counterGet limitation value of ring counter
38Table definition
PCI(e)-8154/8158, PCI-8102/PCI-C154(+) Axis parameter table
MNET-4XMO-(C)/1XMO,HSL-4XMO,PCI(e)-8154/8158, PCI-8102/PCI-C154(+), AMP-304C motion IO status table
MNET-4XMO-(C), HSL-4XMO, PCI(e)-8154/8158, PCI-8102 /PCI-C154(+), AMP-304CMotion status definition table
PCI(e)-8154/8158, PCI-8102 Interrupt Item Definition Table / PCI-C154(+) Interrupt ItemDefinition Table
DB-8150 interrupt factors definition of Items(only DB-8150)
Device information table
APS Functions Return Code
List of all functions for PCIe-8154/8158
Sec.Function nameDescriptions
3System and Initialization
APS_initialDevice initialization
APS_closeDevice close
APS_versionGet the version of the library
APS_device_driver_versionGet the driver's version of devices
APS_get_axis_infoGet the information of the specified axis
APS_get_card_nameGet card index
APS_set_axis_paramSet axis parameter
APS_get_axis_paramGet axis parameter
APS_set_axis_param_fSet axis parameter by double
APS_get_axis_param_fGet axis parameter by double
APS_get_device_infoGet device information
APS_load_param_from_fileLoad parameters from file
5Motion IO and motion status
APS_motion_statusReturn motion status
APS_motion_io_statusReturn motion IO status
APS_set_servo_onSet servo ON/OFF
APS_get_positionGet feedback position
APS_set_positionSet feedback position
APS_get_commandGet command position
APS_set_commandSet command position
APS_get_command_velocityGet command velocity
APS_get_error_positionGet error position
APS_get_target_positionGet target position
APS_get_position_fGet feedback position by double
APS_set_position_fSet feedback position by double
APS_get_command_fGet command position by double
APS_set_command_fSet command position by double
APS_get_command_velocity_fGet command velocity by double
APS_get_error_position_fGet error position by double
APS_get_target_position_fGet target position by double
6Single axis motion
APS_relative_moveBegin a relative distance move
APS_absolute_moveBegin a absolute position move
APS_velocity_moveBegin a velocity move
APS_home_moveBegin a home move
APS_stop_moveStop move
APS_emg_stopEmergency stop
APS_speed_overrideChange speed on the fly
APS_relative_move_ovrdBegin a relative distance move or override it with new distance and speed
APS_absolute_move_ovrdBegin an absolute position move or override it with new position and speed
APS_home_escapeLeave home switch
9Interpolation
APS_absolute_linear_moveBegin an absolute position linear interpolation
APS_relative_linear_moveBegin a relative distance linear interpolation
APS_absolute_arc_moveBegin an absolute position circular interpolation
APS_relative_arc_moveBegin a relative distance circular interpolation
APS_absolute_helical_moveBegin an absolute position helical interpolation
APS_relative_helical_moveBegin a relative distance helical interpolation
10Advanced single move & interpolation
APS_ptp_vBegin a single move with Vm profile
APS_ptp_allBegin a single move with all profile
APS_velBegin a velocity move
APS_vel_allBegin a velocity move with all profile
APS_lineBegin a line move
APS_line_vBegin a line move with Vm profile
APS_line_allBegin a line move with all profile
APS_arc2_caBegin an Arc2 move of angle type
APS_arc2_ca_vBegin an Arc2 move of angle type with Vm profile
APS_arc2_ca_allBegin an Arc2 move of angle type with all profile
APS_arc2_ceBegin an Arc2 move of end position
APS_arc2_ce_vBegin an Arc2 move of end position with Vm profile
APS_arc2_ce_allBegin an Arc2 move of end position with all profile
APS_spiral_ceBegin a 3D spiral-helix move of end position
APS_spiral_ce_vBegin a 3D spiral-helix move of end position with Vm profile
APS_spiral_ce_allBegin a 3D spiral-helix move of end position with all profile
11Interrupt
APS_int_enableInterrupt main switch
APS_set_int_factorEnable/Disable interrupt factor and get interrupt handle.
APS_get_int_factorGet interrupt factor enable or disable
APS_wait_single_intWait single interrupt event
APS_wait_multiple_intWait multiple interrupt events
APS_wait_error_intWait error interrupts( Non-mask )
APS_reset_intReset interrupt event to non-signaled state.
APS_set_intSet interrupt event to signaled state.
APS_set_int_factorHEnable/Disable interrupt factor and get interrupt handle.(Win32)
APS_int_no_to_handleConvert interrupt event number to interrupt handle.(Win32)
APS_register_int_callbackRegister interrupt callback function
13DIO & AIO
APS_write_d_outputSet digital output value
APS_read_d_outputRead digital output value
APS_read_d_inputRead digital input value
APS_write_d_channel_outputSet digital output value by channel
APS_read_d_channel_outputRead digital output value by channel
APS_read_d_channel_inputRead digital input value by channel
20Manual Pulse Generator functions
APS_manual_pulser_startEnable/Disable PA/PB input
APS_manual_pulser_velocity_moveBegin a pulser velocity move
APS_manual_pulser_relative_moveBegin a pulser relative distance move
APS_manual_pulser_home_moveBegin a pulser home move
29Simultaneous move functions
APS_set_relative_simultaneous_moveSetup a relative simultaneous move
APS_set_absolute_simultaneous_moveSetup a absolute simultaneous move
APS_start_simultaneous_moveBegin a simultaneous move
APS_stop_simultaneous_moveStop a simultaneous move
30Single latch functions
APS_manual_latch2Manual latch for a axis
APS_get_latch_data2Get latch data for a axis
38Table definition
PCI(e)-8154/8158, PCI-8102/PCI-C154(+) Axis parameter table
MNET-4XMO-(C)/1XMO,HSL-4XMO,PCI(e)-8154/8158, PCI-8102/PCI-C154(+), AMP-304C motion IO status table
MNET-4XMO-(C), HSL-4XMO, PCI(e)-8154/8158, PCI-8102 /PCI-C154(+), AMP-304C Motion status definition table
PCI(e)-8154/8158, PCI-8102 Interrupt Item Definition Table / PCI-C154(+) Interrupt Item Definition Table
Device information table
APS Functions Return Code
List of all functions for EMX-100
Sec.Function nameDescriptions
3System and Initialization
APS_initialDevice initialization
APS_closeDevice close
APS_versionGet the version of the library
APS_get_axis_infoGet the information of the specified axis
APS_get_card_nameGet card index
APS_set_board_paramSet board parameter
APS_get_board_paramGet board parameter
APS_set_axis_paramSet axis parameter
APS_get_axis_paramGet axis parameter
APS_get_device_infoGet device information
APS_get_first_axisIdGet first axis id of the card
APS_load_parameter_from_defaultLoad system & axes parameters by default value
APS_load_param_from_fileLoad parameters from file
APS_register_emxRegister EMX in library
APS_get_deviceIPGet Device IP
APS_reset_emx_alarmReset the alarm signal of device
5Motion IO and motion status
APS_motion_statusReturn motion status
APS_motion_io_statusReturn motion IO status
APS_set_servo_onSet servo ON/OFF
APS_get_positionGet feedback position
APS_set_positionSet feedback position
APS_get_commandGet command position
APS_set_commandSet command position
APS_get_error_positionGet error position
APS_get_target_positionGet target position
APS_get_command_velocityGet command velocity
APS_get_feedback_velocityGet feedback velocity
6Single axis motion
APS_relative_moveBegin a relative distance move
APS_absolute_moveBegin a absolute position move
APS_velocity_moveBegin a velocity move
APS_home_moveBegin a home move
APS_stop_moveStop move
APS_emg_stopEmergency stop
8Jog move
APS_jog_startStart / stop jog move
9Interpolation
APS_absolute_linear_moveBegin an absolute position linear interpolation
APS_relative_linear_moveBegin a relative distance linear interpolation
13DIO & AIO
APS_write_d_outputSet digital output value
APS_read_d_outputRead digital output value
APS_read_d_inputRead digital input value
APS_write_d_channel_outputSet digital output value by channel
APS_read_d_channel_outputRead digital output value by channel
18Compare trigger
APS_set_trigger_paramSet compare trigger related parameter
APS_get_trigger_paramGet compare trigger related parameter
APS_get_trigger_countGet triggered count
APS_reset_trigger_countReset triggered count
33Speed Profile Calculation
APS_check_motion_profile_emxGet relative speed profile
38Table definition
EMX-100 board parameter table
EMX-100 Axis parameter table
EMX-100 motion IO status table
EMX-100 Motion status definition table
EMX-100 Trigger parameter table
Device information table
APS Functions Return Code
List of all functions for PCI-8254/58 / AMP-204/8C
Sec.Function nameDescriptions
3System and Initialization
APS_initialDevice initialization
APS_closeDevice close
APS_versionGet the version of the library
APS_device_driver_versionGet the driver's version of devices
APS_get_axis_infoGet the information of the specified axis
APS_get_card_nameGet card index
APS_disable_deviceDisable cards
APS_set_board_paramSet board parameter
APS_get_board_paramGet board parameter
APS_set_axis_paramSet axis parameter
APS_get_axis_paramGet axis parameter
APS_set_axis_param_fSet axis parameter by double
APS_get_axis_param_fGet axis parameter by double
APS_get_system_timerGet system timer counter
APS_get_device_infoGet device information
APS_get_first_axisIdGet first axis id of the card
APS_save_parameter_to_flashSave system & axes parameters to flash
APS_load_parameter_from_flashLoad system & axes parameters from flash
APS_load_parameter_from_defaultLoad system & axes parameters by default value
APS_load_param_from_fileLoad parameters from file
APS_get_curr_sys_ctrl_modeGet current system control mode
5Motion IO and motion status
APS_motion_statusReturn motion status
APS_motion_io_statusReturn motion IO status
APS_set_servo_onSet servo ON/OFF
APS_get_positionGet feedback position
APS_set_positionSet feedback position
APS_get_commandGet command position
APS_set_commandSet command position
APS_get_command_velocityGet command velocity
APS_get_feedback_velocityGet feedback velocity
APS_get_error_positionGet error position
APS_get_target_positionGet target position
APS_get_position_fGet feedback position by double
APS_set_position_fSet feedback position by double
APS_get_command_fGet command position by double
APS_set_command_fSet command position by double
APS_get_error_position_fGet error position by double
APS_get_target_position_fGet target position by double
APS_get_command_velocity_fGet command velocity by double
APS_get_feedback_velocity_fGet feedback velocity by double
APS_get_mq_free_spaceGet free space of motion queue
APS_get_mq_usageGet usage of motion queue
APS_get_stop_codeGet stop code
APS_get_encoderGet raw feedback counter
APS_get_command_counterGet raw command counter
APS_get_axis_latch_dataGet ORG/EZ latch data
6Single axis motion
APS_relative_moveBegin a relative distance move
APS_absolute_moveBegin a absolute position move
APS_velocity_moveBegin a velocity move
APS_home_moveBegin a home move
APS_stop_moveStop move
APS_emg_stopEmergency stop
7Multi-axes move trigger & stop
APS_move_triggerSend a trigger to sync all waiting moves
APS_stop_move_multiMulti-axes stop move
APS_emg_stop_multiMulti-axes emg stop move
8Jog move
APS_jog_startStart / stop jog move
9Interpolation
APS_absolute_linear_moveBegin an absolute position linear interpolation
APS_relative_linear_moveBegin a relative distance linear interpolation
APS_absolute_arc_moveBegin an absolute position circular interpolation
APS_relative_arc_moveBegin a relative distance circular interpolation
10Advanced single move & interpolation
APS_ptpBegin a single move
APS_ptp_vBegin a single move with Vm profile
APS_ptp_allBegin a single move with all profile
APS_velBegin a velocity move
APS_vel_allBegin a velocity move with all profile
APS_lineBegin a line move
APS_line_vBegin a line move with Vm profile
APS_line_allBegin a line move with all profile
APS_arc2_caBegin an Arc2 move of angle type
APS_arc2_ca_vBegin an Arc2 move of angle type with Vm profile
APS_arc2_ca_allBegin an Arc2 move of angle type with all profile
APS_arc2_ceBegin an Arc2 move of end position
APS_arc2_ce_vBegin an Arc2 move of end position with Vm profile
APS_arc2_ce_allBegin an Arc2 move of end position with all profile
APS_arc3_caBegin an Arc3 move of angle type
APS_arc3_ca_vBegin an Arc3 move of angle type with Vm profile
APS_arc3_ca_allBegin an Arc3 move of angle type with allprofile
APS_arc3_ceBegin an Arc3 move of end position
APS_arc3_ce_vBegin an Arc3 move of end position with Vm profile
APS_arc3_ce_allBegin an Arc3 move of end position with all profile
APS_spiral_caBegin a 3D spiral-helix move of angle type
APS_spiral_ca_vBegin a 3D spiral-helix move of angle type with Vm profile
APS_spiral_ca_allBegin a 3D spiral-helix move of angle type with all profile
APS_spiral_ceBegin a 3D spiral-helix move of end position
APS_spiral_ce_vBegin a 3D spiral-helix move of end position with Vm profile
APS_spiral_ce_allBegin a 3D spiral-helix move of end position with all profile
11Interrupt
APS_int_enableInterrupt main switch
APS_set_int_factorEnable/Disable interrupt factor and get interrupt handle.
APS_get_int_factorGet interrupt factor enable or disable
APS_wait_single_intWait single interrupt event
APS_wait_multiple_intWait multiple interrupt events
APS_reset_intReset interrupt event to non-signaled state.
APS_set_intSet interrupt event to signaled state.
APS_set_int_factorHEnable/Disable interrupt factor and get interrupt handle.(Win32)
APS_int_no_to_handleConvert interrupt event number to interrupt handle.(Win32)
APS_register_int_callbackRegister interrupt callback function
12Sampling
APS_set_sampling_paramSet sampling parameter.
APS_get_sampling_paramGet sampling parameter.
APS_wait_trigger_samplingWaiting for sample data.
APS_wait_trigger_sampling_asyncWaiting for sample data asynchronously
APS_get_sampling_countGet sampled data count
APS_stop_wait_samplingForce stop wait sampling
APS_auto_samplingStart/Stop auto sampling
APS_get_sampling_dataGet sampling data in auto sampling mode by 4 Channels.
APS_set_sampling_param_exSet sampling parameter by structure. It is an extension to 8 channels.
APS_get_sampling_param_exGet sampling parameter by structure. It is an extension to 8 channels.
APS_wait_trigger_sampling_exWaiting for sample data. It is an extension to 8 channels.
APS_wait_trigger_sampling_async_exWaiting for sample data asynchronously. It is an extension to 8 channels.
APS_get_sampling_data_exGet sampling data in auto sampling mode. It is an extension to 8 channels.
13DIO & AIO
APS_write_d_outputSet digital output value
APS_read_d_outputRead digital output value
APS_read_d_inputRead digital input value
APS_write_d_channel_outputSet digital output value by channel
APS_read_d_channel_outputRead digital output value by channel
APS_read_a_input_value(*1)Read back analog input value by volt
APS_write_a_output_value(*1)Set analog output value by volt
14Point table motion
APS_set_feeder_groupSet axes into a feeder group
APS_get_feeder_groupReturn the configuration in one feeder group
APS_free_feeder_groupFree a feeder group and it's resources
APS_reset_feeder_bufferReset the feeder's point buffer
APS_set_feeder_point_2DAdd a point into feeder's buffer
APS_set_feeder_point_2D_exAdd a point into feeder's buffer
APS_start_feeder_moveStart point table move and feed points.
APS_get_feeder_statusGet feeder status
APS_get_feeder_running_indexGet which point is in operation.
APS_get_feeder_feed_indexGet which point is set into point table.
APS_set_feeder_ex_pauseMotion paused(stopped) and feeder paused
APS_set_feeder_ex_rollbackMove back to the starting position of paused index
APS_set_feeder_ex_resumeResume the point-table move
15Advanced Point table
APS_pt_enableEnable point table.
APS_pt_disableDisable point table.
APS_get_pt_infoGet information of point table.
APS_pt_set_vsSet configuration of Vs to point table
APS_pt_get_vsGet configuration of Vs in the point table
APS_pt_startSet control command to point table
APS_pt_stopStop point table
APS_get_pt_statusGet status of point table
APS_reset_pt_bufferReset buffer of point table
APS_pt_roll_backRollback to previous point
APS_pt_get_errorGet error code of point table
APS_pt_dwellPush a dwell move into point buffer of point table.
APS_pt_linePush a line move into point buffer of point table.
APS_pt_arc2_caPush a 2d arc move into point buffer of point table.
APS_pt_arc2_cePush a 2d arc move into point buffer of point table.
APS_pt_arc3_caPush a 3d arc move into point buffer of point table.
APS_pt_arc3_cePush a 3d arc move into point buffer of point table.
APS_pt_spiral_caPush a helical move into point buffer of
point table.
APS_pt_spiral_cePush a helical move into point buffer of point table.
APS_pt_ext_set_do_chSet Do extension command into command buffer. Command buffer is active when pushing a move into point table.
APS_pt_set_absoluteSet absolute profile into profile buffer.
APS_pt_set_relativeSet relative profile into profile buffer.
APS_pt_set_trans_bufferedSet transition to buffer mode in profile buffer.
APS_pt_set_trans_inpSet transition to in-position mode in profile buffer.
APS_pt_set_trans_blend_decSet transition to blending mode with deceleration in profile buffer.
APS_pt_set_trans_blend_distSet transition to blending mode with residue distant in profile buffer.
APS_pt_set_trans_blend_pcntSet transition to blending mode with residue distant percetange in profile buffer.
APS_pt_set_accSet acceleration profile into profile buffer.
APS_pt_set_decSet deceleration profile into profile buffer.
APS_pt_set_acc_decSet acceleration / deceleration profile into profile buffer
APS_pt_set_sSet S-factor profile into profile buffer.
APS_pt_set_vmSet maximum velocity profile into profile buffer.
APS_pt_set_veSet end velocity profile into profile buffer.
17Gear / Gantry functions
APS_start_gearEnable/Disable a specified gear mode
APS_get_gear_statusGet gear status
18Compare trigger
APS_set_trigger_paramSet compare trigger related parameter
APS_get_trigger_paramGet compare trigger related parameter
APS_set_trigger_linearSet linear comparing function
APS_set_trigger_tableSet table comparing function
APS_set_trigger_manualManual output trigger
APS_set_trigger_manual_sManual output trigger synchronously
APS_get_trigger_table_cmpGet current table comparing value
APS_get_trigger_linear_cmpGet current linear comparing value
APS_get_trigger_countGet triggered count
APS_reset_trigger_countReset triggered count
APS_get_timer_counterGet timer count
APS_set_timer_counterSet timer count
APS_set_multi_trigger_tableSet table comparing function
APS_get_multi_trigger_table_cmpGet current table comparing value
APS_set_trigger_table_dataSet table compator data (Fast table compare trigger function)
APS_get_trigger_table_statusGet table comparator status (Fast table compare trigger function)
APS_get_trigger_cmp_valueGet table comparator value (Fast table compare trigger function)
APS_enable_trigger_tableEnable table comparator (Fast table compare trigger function)
APS_reset_trigger_tableReset table comparator (Fast table compare trigger function)
19Program download(*1)
APS_load_vmc_programLoad VMC file to task memory
APS_save_vmc_programSave to VMC file from task memory
APS_set_task_modeSet task run mode
APS_get_task_modeGet task run mode
APS_start_taskStart task control command
APS_get_task_infoGet task information
APS_get_task_msgGet message of all tasks
20Manual Pulse Generator functions
APS_manual_pulser_startStart manual pulser operation
APS_manual_pulser_velocity_moveStart velocity move in manual pulser operation
21Pitch error compensation functions
APS_set_pitch_tableSet configurations and data of pitch error compensation table
APS_get_pitch_tableGet configurations and data of pitch error compensation table
APS_start_pitch_compStart pitch error compensation
26Watch dog timer
APS_wdt_startStart / Stop watch dog timer
APS_wdt_get_timeout_periodGet a timeout period of watch dog timer
APS_wdt_reset_counterReset counter of watch dog timer
APS_wdt_get_counterGet counter of watch dog timer
APS_wdt_set_action_eventSet action event of watch dog timer
APS_wdt_get_action_eventGet action event of watch dog timer
27VAO/PWM functions ( Laser function )
APS_set_vao_paramSet parameter to VAO table
APS_get_vao_paramGet parameter of VAO table
APS_set_vao_tableSet VAO table
APS_switch_vao_tableSwitch to specified VAO table
APS_start_vaoEnable VAO output channel
APS_get_vao_statusGet VAO status
APS_check_vao_paramCheck parameters setting of specified VAO table
APS_set_vao_param_exSet table parameters via VAO structure
APS_get_vao_param_exGet table parameters via VAO structure
APS_set_pwm_onStart to output PWM signal
APS_set_pwm_widthSet pulse width to a PWM channel
APS_set_pwm_frequencySet pulse frequency to a PWM channel
APS_get_pwm_widthGet pulse width from a PWM channel
APS_get_pwm_frequencyGet pulse frequency from a PWM channel
28Circular limit functions
APS_set_circular_limitSet circular limit configurations
APS_get_circular_limitGet circular limit configurations
31Multi-latch functions
APS_enable_ltc_fifoEnable position latch process
APS_get_ltc_fifo_pointGet latch point array
APS_set_ltc_fifo_paramSet latch parameter value
APS_get_ltc_fifo_paramGet latch parameter value
APS_reset_ltc_fifoReset latch queue and fifo
APS_get_ltc_fifo_usageGet latch queue used space
APS_get_ltc_fifo_free_spaceGet latch queue free space
APS_get_ltc_fifo_statusGet latch queue and fifo status
34Backlash functions
APS_set_backlash_enEnable/Disable backlash
APS_get_backlash_enCheck backlash is enabled / disabled
352-D compensation
APS_set_2d_compensation_tableCreate 2D compensation table
APS_get_2d_compensation_tableGet 2D compensation table configuration
APS_start_2d_compensationStart or stop 2D compensation table
APS_absolute_linear_move_2d_compensation2D absolute linear interpolation
APS_get_2d_compensation_command_positionGet command and feedback position
38Table definition
PCI-8254/58 / AMP-204/8C board parameter table
PCI-8254/58 / AMP-204/8C Axis parameter table
Sampling parameter table for PCI-8392(H), PCI-8253/56, MNET-4XMO, PCI-8254/58 / AMP-204/8C, PCIe-833x and PCIe-8364RS
PCI-8254/58 / AMP-204/8C sampling source table
PCI-8254/58 / AMP-204/8C motion IO status table
PCI-8254/58 / AMP-204/8C Motion status definition table
PCI-8254/58 / AMP-204/8C Interrupt Item Definition Table
PCI-8254/58 / AMP-204/8C Trigger parameter table
PCI-8254/58 / AMP-204/8C Latch parameter table
Device information table
VAO parameter table
APS Functions Return Code
\*1. AMP series don’t support this feature. List of all functions for PCIe-833x
Sec.Function nameDescriptions
3System and Initialization
APS_initialDevice initialization
APS_closeDevice close
APS_versionGet the version of the library
APS_device_driver_versionGet the driver's version of devices
APS_get_axis_infoGet the information of the specified axis
APS_get_card_nameGet card index
APS_disable_deviceDisable cards
APS_set_board_paramSet board parameter
APS_get_board_paramGet board parameter
APS_set_axis_paramSet axis parameter
APS_get_axis_paramGet axis parameter
APS_set_axis_param_fSet axis parameter by double
APS_get_axis_param_fGet axis parameter by double
APS_get_system_timerGet system timer counter
APS_get_device_infoGet device information
APS_save_parameter_to_flashSave system & axes parameters to flash
APS_load_parameter_from_flashLoad system & axes parameters from flash
APS_load_parameter_from_defaultLoad system & axes parameters by default value.
APS_load_config_from_fileload configure file to card. Each card would have different function with option argument
5Motion IO and motion status
APS_motion_statusReturn motion status
APS_motion_status_asyncRetrun motion status in asynchronous mode
APS_motion_io_statusReturn motion IO status
APS_motion_io_status_asyncReturn motion IO status in asynchronous mode
APS_set_servo_onSet servo ON/OFF
APS_get_position_fGet feedback position by double
APS_get_position_f_asyncGet feedback position by double in asynchronous mode
APS_set_position_fSet feedback position by double
APS_get_command_fGet command position by double
APS_get_command_f_asyncGet command position by double in asynchronous mode
APS_set_command_fSet command position by double
APS_get_error_position_fGet error position by double
APS_get_target_position_fGet target position by double
APS_get_command_velocity_fGet command velocity by double
APS_get_feedback_velocity_fGet feedback velocity by double
APS_get_mq_free_spaceGet free space of motion queue
APS_get_mq_usageGet usage of motion queue
APS_get_stop_codeGet stop code
APS_get_encoderGet raw feedback counter
APS_get_command_counterGet raw command counter
APS_reset_command_counterReset raw command counter
APS_get_last_errorGet last moving function error code in asynchronous mode
6Single axis motion
APS_home_moveBegin a home move
APS_stop_moveStop move
APS_emg_stopEmergency stop
7Multi-axes move trigger & stop
APS_move_triggerSend a trigger to sync all waiting moves
APS_stop_move_multiMulti-axes stop move
APS_emg_stop_multiMulti-axes emg stop move
8Jog move
APS_jog_startStart / stop jog move
10Advanced single move & interpolation
APS_ptpBegin a single move
APS_ptp_vBegin a single move with Vm profile
APS_ptp_allBegin a single move with all profile
APS_velBegin a velocity move
APS_vel_allBegin a velocity move with all profile
APS_lineBegin a line move
APS_line_vBegin a line move with Vm profile
APS_line_allBegin a line move with all profile
APS_arc2_caBegin an Arc2 move of angle type
APS_arc2_ca_vBegin an Arc2 move of angle type with Vm profile
APS_arc2_ca_allBegin an Arc2 move of angle type with all profile
APS_arc2_ceBegin an Arc2 move of end position
APS_arc2_ce_vBegin an Arc2 move of end position with Vm profile
APS_arc2_ce_allBegin an Arc2 move of end position with all profile
APS_arc3_caBegin an Arc3 move of angle type
APS_arc3_ca_vBegin an Arc3 move of angle type with Vm profile
APS_arc3_ca_allBegin an Arc3 move of angle type with all profile
APS_arc3_ceBegin an Arc3 move of end position
APS_arc3_ce_vBegin an Arc3 move of end position with Vm profile
APS_arc3_ce_allBegin an Arc3 move of end position with all profile
APS_spiral_caBegin a 3D spiral-helix move of angle type
APS_spiral_ca_vBegin a 3D spiral-helix move of angle type with Vm profile
APS_spiral_ca_allBegin a 3D spiral-helix move of angle type with all profile
APS_spiral_ceBegin a 3D spiral-helix move of end position
APS_spiral_ce_vBegin a 3D spiral-helix move of end position with Vm profile
APS_spiral_ce_allBegin a 3D spiral-helix move of end position with all profile
11Interrupt
APS_int_enableInterrupt main switch
APS_set_int_factorEnable/Disable interrupt factor and get interrupt handle.
APS_get_int_factorGet interrupt factor enable or disable
APS_wait_single_intWait single interrupt event
APS_wait_multiple_intWait multiple interrupt events
APS_reset_intReset interrupt event to non-signaled state.
APS_set_intSet interrupt event to signaled state.
APS_set_int_factorHEnable/Disable interrupt factor and get interrupt handle.(Win32)
APS_int_no_to_handleConvert interrupt event number to interrupt handle.(Win32)
APS_register_int_callbackRegister interrupt callback function
12Sampling
APS_set_sampling_paramSet sampling parameter.
APS_get_sampling_paramGet sampling parameter.
APS_wait_trigger_samplingWaiting for sample data.
APS_wait_trigger_sampling_asyncWaiting for sample data asynchronously
APS_get_sampling_countGet sampled data count
APS_stop_wait_samplingForce stop wait sampling
APS_auto_samplingStart/Stop auto sampling
APS_get_sampling_dataGet sampling data in auto sampling mode by 4 Channels.
APS_set_sampling_param_exSet sampling parameter by structure. It is an extension to 8 channels.
APS_get_sampling_param_exGet sampling parameter by structure. It is an extension to 8 channels.
APS_wait_trigger_sampling_exWaiting for sample data. It is an extension to8 channels.
APS_wait_trigger_sampling_async_exWaiting for sample data asynchronously. It is an extension to 8 channels.
APS_get_sampling_data_exGet sampling data in auto sampling mode. It is an extension to 8 channels.
APS_set_sampling_param_advancedSet sampling parameter by structure. It is an extension to 16 channels.
APS_get_sampling_param_advancedGet sampling parameter by structure. It is an extension to 16 channels.
APS_wait_trigger_sampling_advancedWaiting for sample data. It is an extension to 16 channels.
APS_wait_trigger_sampling_async_advancedWaiting for sample data asynchronously. It is an extension to 16 channels.
APS_get_sampling_data_advancedGet sampling data in auto sampling mode. It is an extension to 16 channels.
13DIO & AIO
APS_set_field_bus_d_channel_outputSet field bus digital output by channel
APS_get_field_bus_d_channel_outputGet field bus digital output by channel
APS_get_field_bus_d_channel_inputGet field bus digital input by channel
APS_set_field_bus_d_port_outputSet field bus digital output by port
APS_get_field_bus_d_port_inputGet field bus digital input by port
APS_get_field_bus_d_port_outputGet field bus digital output by port
APS_write_d_outputSet digital output value
APS_read_d_outputRead digital output value
APS_read_d_inputRead digital input value
APS_write_d_channel_outputSet digital output value by channel
APS_read_d_channel_outputRead digital output value by channel
APS_read_d_channel_inputRead digital input value by channel
15Advanced Point table
APS_pt_enableEnable point table.
APS_pt_disableDisable point table.
APS_get_pt_infoGet information of point table.
APS_pt_set_vsSet configuration of Vs to point table
APS_pt_get_vsGet configuration of Vs in the point table
APS_pt_startSet control command to point table
APS_pt_stopStop point table
APS_get_pt_statusGet status of point table
APS_reset_pt_bufferReset buffer of point table
APS_pt_roll_backRollback to previous point
APS_pt_dwellPush a dwell move into point buffer of point table.
APS_pt_linePush a line move into point buffer of point table.
APS_pt_arc2_caPush a 2d arc move into point buffer of point table.
APS_pt_arc2_cePush a 2d arc move into point buffer of point table.
APS_pt_arc3_caPush a 3d arc move into point buffer of point table.
APS_pt_arc3_cePush a 3d arc move into point buffer of point table.
APS_pt_spiral_caPush a helical move into point buffer of point table.
APS_pt_spiral_cePush a helical move into point buffer of point table.
APS_pt_ext_set_do_chControl digital output within advanced point-table in EPS-6000 slave
APS_pt_set_absoluteSet absolute profile into profile buffer.
APS_pt_set_relativeSet relative profile into profile buffer.
APS_pt_set_trans_bufferedSet transition to buffer mode in profile buffer.
APS_pt_set_trans_inpSet transition to in-position mode in profile buffer.
APS_pt_set_trans_blend_decSet transition to blending mode with deceleration in profile buffer.
APS_pt_set_trans_blend_distSet transition to blending mode with residue distant in profile buffer.
APS_pt_set_trans_blend_pcntSet transition to blending mode with residue distant percetange in profile buffer.
APS_pt_set_accSet acceleration profile into profile buffer.
APS_pt_set_decSet deceleration profile into profile buffer.
APS_pt_set_acc_decSet acceleration / deceleration profile into profile buffer
APS_pt_set_sSet S-factor profile into profile buffer.
APS_pt_set_vmSet maximum velocity profile into profile buffer.
APS_pt_set_veSet end velocity profile into profile buffer.
16Field bus functions
APS_scan_field_busScan field bus and generate ENI file
APS_start_field_busStart the network of specified field bus
APS_stop_field_busStop the network of specified field bus
APS_set_field_bus_a_outputSet field bus analog output
APS_get_field_bus_a_outputGet field bus analog output
APS_get_field_bus_a_inputGet field bus analog input
APS_get_field_bus_master_statusGet field bus master status
APS_get_slave_online_statusGet the status of slave
APS_get_field_bus_last_scan_infoGet fieldbus info after system scanning.
APS_get_field_bus_module_infoGet slave information
APS_reset_field_bus_alarmReset the alarm signal of slave
APS_get_field_bus_alarmGet alarm code of slave
APS_get_field_bus_pdoGet value from PDO memory
APS_set_field_bus_pdoSet value to PDO memory
APS_get_field_bus_pdo_offsetGet PDO information
APS_get_field_bus_sdoGet SDO data from slave
APS_set_field_bus_sdoSet SDO data to slave
APS_set_field_bus_od_dataSet EtherCAT OD raw data
APS_get_field_bus_od_dataGet EtherCAT OD raw data
APS_get_field_bus_od_module_infoGet EtherCAT slave information
APS_get_field_bus_module_mapGet mapped slave ID in manual ID mode
APS_set_field_bus_module_mapSet mapped slave ID in manual ID mode
APS_get_field_bus_slave_stateGet the status of slave's state machine
APS_set_field_bus_slave_stateSet the status of slave's state machine
APS_get_field_bus_ESC_registerGet EtherCAT Slave Controller register
APS_set_field_bus_ESC_registerSet EtherCAT Slave Controller register
APS_get_system_loadingGet system loop loading
APS_get_field_bus_analysis_topologyGet current and past topology then analysis
APS_get_field_bus_loss_packageGet the loss of EtherCAT frame count on receive bus direction.
17Gear / Gantry functions
APS_start_gearEnable/Disable a specified gear mode
APS_get_gear_statusGet gear status
APS_get_gantry_numberGet number of this master's corresponding slaves
APS_get_gantry_infoGet slave axis ID array
APS_get_gantry_deviationGet position deviation between master and slaves
20Manual Pulse Generator functions
APS_manual_pulser_startStart manual pulser operation
APS_manual_pulser_velocity_moveStart velocity move in manual pulser operation
26Watch dog timer
APS_wdt_startStart / Stop watch dog timer
APS_wdt_get_timeout_periodGet a timeout period of watch dog timer
APS_wdt_reset_counterReset counter of watch dog timer
APS_wdt_get_counterGet counter of watch dog timer
APS_wdt_set_action_eventSet action event of watch dog timer
APS_wdt_get_action_eventGet action event of watch dog timer
28Circular limit functions
APS_set_circular_limitSet circular limit configurations
APS_get_circular_limitGet circular limit configurations
34Backlash functions
APS_set_backlash_enEnable/Disable backlash
APS_get_backlash_enCheck backlash is enabled / disabled
352-D compensation
APS_set_2d_compensation_tableCreate 2D compensation table
APS_get_2d_compensation_tableGet 2D compensation table configuration
APS_start_2d_compensationStart or stop 2D compensation table
APS_absolute_linear_move_2d_compensation2D absolute linear interpolation
APS_get_2d_compensation_command_positionGet command and feedback position
36Single axis torque motion
APS_torque_moveStart torque operation
APS_get_torque_commandGet command torque value back
APS_get_actual_torqueGet actual torque value
APS_set_command_control_modeSet the command control mode of axis
APS_get_command_control_modeGet the command control mode of axis
37Diagnostic function
APS_get_field_bus_frame_loss_diagnosticsGet the diagnostic result of continuous frame loss
APS_reset_field_bus_frame_loss_diagnosticsReset frame loss diagnostic result
APS_get_field_bus_slave_connecting_diagnosticsGet the diagnostic result of connecting
38Table definition
PCIe-833x board parameter table
PCIe-833x Axis parameter table
Sampling parameter table for PCI-8392(H), PCI-8253/56, MNET-4XMO, PCI-8254/58 / AMP-204/8C, PCIe-833x and PCIe-8364RS
PCIe-833x sampling source table
PCIe-833x motion IO status table
PCIe-833x Motion status definition table
PCIe-833x Interrupt Item Definition Table
Device information table
APS Functions Return Code
PCIe-833x IO mapping
List of all functions for ECAT-4XMO / ECAT-4XMO-MT
Sec.Function nameDescriptions
3System and Initialization
Use with PCIe-833x
5Motion IO and motion status
Use with PCIe-833x
6Single axis motion
Use with PCIe-833x
7Multi-axes move trigger & stop
Use with PCIe-833x
8Jog move
Use with PCIe-833x
10Advanced single move & interpolation
Use with PCIe-833x
12Sampling
Use with PCIe-833x
13DIO & AIO
Use with PCIe-833x
15Advanced Point table
Use with PCIe-833x
16Field bus functions
Use with PCIe-833x
17Gear / Gantry functions
Use with PCIe-833x
20Manual Pulse Generator functions
Use with PCIe-833x
24Field bus compare trigger
APS_set_field_bus_trigger_paramSet compare trigger related parameter
APS_get_field_bus_trigger_paramGet compare trigger related parameter
APS_set_field_bus_trigger_linearSet linear comparing function
APS_set_field_bus_trigger_tableSet table comparing function
APS_set_field_bus_trigger_manualManual output trigger
APS_set_field_bus_trigger_manual_sManual output trigger synchronously
APS_get_field_bus_trigger_table_cmpGet current table comparing value
APS_get_field_bus_trigger_linear_cmpGet current linear comparing value
APS_get_field_bus_trigger_countGet triggered count.
APS_reset_field_bus_trigger_countReset triggered count.
APS_get_field_bus_linear_cmp_remain_countGet remaining counter of linear comparator
APS_get_field_bus_table_cmp_remain_countGet remaining counter of table comparator
APS_get_field_bus_encoderGet encoder counter
APS_get_field_bus_timer_counterGet timer count.
APS_set_field_bus_timer_counterSet timer count.
APS_set_field_bus_multi_trigger_tableSet multi-dimension table comparing function.(ECAT-4XMO-MT support only)
APS_get_field_bus_multi_trigger_table_cmpGet current multi-dimension table comparing value. (ECAT-4XMO-MT support only)
APS_get_field_bus_multi_table_cmp_remain_countGet remaining counter of multi-dimension table comparator. (ECAT-4XMO-MT support only)
25Field bus position latch functions
APS_get_field_bus_ltc_fifo_pointGet latch point array.
APS_set_field_bus_ltc_fifo_paramSet latch parameter value.
APS_get_field_bus_ltc_fifo_paramGet latch parameter value.
APS_reset_field_bus_ltc_fifoReset latch queue and fifo.
APS_get_field_bus_ltc_fifo_usageGet latch queue used space.
APS_get_field_bus_ltc_fifo_free_spaceGet latch queue free space.
APS_get_field_bus_ltc_fifo_statusGet latch queue and fifo status.
28Circular limit functions
Use with PCIe-833x
352-D compensation
Use with PCIe-833x
38Table definition
ECAT-4XMO/ECAT-4XMO-MT, ECAT-TRG4/ECAT-TRG4-MT Trigger parameter table
ECAT-4XMO/ECAT-4XMO-MT, ECAT-TRG4/ECAT-TRG4-MT Latch parameter table
APS Functions Return Code
List of all functions for ECAT-TRG4 / ECAT-TRG4-MT
Sec.Function nameDescriptions
13DIO & AIO
Use with PCIe-833x
16Field bus functions
Use with PCIe-833x
24Field bus compare trigger
APS_set_field_bus_trigger_paramSet compare trigger related parameter
APS_get_field_bus_trigger_paramGet compare trigger related parameter
APS_set_field_bus_trigger_linearSet linear comparing function
APS_set_field_bus_trigger_tableSet table comparing function
APS_set_field_bus_trigger_manualManual output trigger
APS_set_field_bus_trigger_manual_sManual output trigger synchronously
APS_get_field_bus_trigger_table_cmpGet current table comparing value
APS_get_field_bus_trigger_linear_cmpGet current linear comparing value
APS_get_field_bus_trigger_countGet triggered count.
APS_reset_field_bus_trigger_countReset triggered count.
APS_get_field_bus_linear_cmp_remain_countGet remaining counter of linear comparator
APS_get_field_bus_table_cmp_remain_countGet remaining counter of table comparator
APS_get_field_bus_encoderGet encoder counter
APS_get_field_bus_timer_counterGet timer count.
APS_set_field_bus_timer_counterSet timer count.
APS_set_field_bus_multi_trigger_tableSet multi-dimension table comparing function.(ECAT-TRG4-MT support only)
APS_get_field_bus_multi_trigger_table_cmpGet current multi-dimension table comparing value. (ECAT-TRG4-MT support only)
APS_get_field_bus_multi_table_cmp_remain_countGet remaining counter of multi-dimension table comparator. (ECAT-TRG4-MT supportonly)
25Field bus position latch functions
APS_get_field_bus_ltc_fifo_pointGet latch point array.
APS_set_field_bus_ltc_fifo_paramSet latch parameter value.
APS_get_field_bus_ltc_fifo_paramGet latch parameter value.
APS_reset_field_bus_ltc_fifoReset latch queue and fifo.
APS_get_field_bus_ltc_fifo_usageGet latch queue used space.
APS_get_field_bus_ltc_fifo_free_spaceGet latch queue free space.
APS_get_field_bus_ltc_fifo_statusGet latch queue and fifo status.
38Table definition
ECAT-4XMO/ECAT-4XMO-MT, ECAT-TRG4/ECAT-TRG4-MT Trigger parameter table
ECAT-4XMO/ECAT-4XMO-MT, ECAT-TRG4/ECAT-TRG4-MT Latch parameter table
APS Functions Return Code
List of all functions for AMP-304C
Sec.Function nameDescriptions
3System and Initialization
APS_initialDevice initialization
APS_closeDevice close
APS_versionGet the version of the library
APS_device_driver_versionGet the driver's version of devices
APS_get_axis_infoGet the information of the specified axis
APS_get_card_nameGet card index
APS_set_board_paramSet board parameter
APS_get_board_paramGet board parameter
APS_set_axis_paramSet axis parameter
APS_get_axis_paramGet axis parameter
APS_get_device_infoGet device information
APS_load_param_from_fileLoad parameters from file
APS_set_security_keySet security password
APS_check_security_keyVarify security password
APS_reset_security_keyReset security password
5Motion IO and motion status
APS_motion_statusReturn motion status
APS_motion_io_statusReturn motion IO status
APS_set_servo_onSet servo ON/OFF
APS_get_positionGet feedback position
APS_set_positionSet feedback position
APS_get_commandGet command position
APS_set_commandSet command position
APS_get_command_velocityGet command velocity
APS_get_error_positionGet error position
APS_get_target_positionGet target position
6Single axis motion
APS_relative_moveBegin a relative distance move
APS_absolute_moveBegin a absolute position move
APS_velocity_moveBegin a velocity move
APS_home_moveBegin a home move
APS_stop_moveStop move
APS_emg_stopEmergency stop
APS_speed_overrideChange speed on the fly
APS_relative_move_ovrdBegin a relative distance move or override it with new distance and speed
APS_absolute_move_ovrdBegin an absolute position move or override it with new position and speed
APS_home_escapeLeave home switch
9Interpolation
APS_absolute_linear_moveBegin an absolute position linear interpolation
APS_relative_linear_moveBegin a relative distance linear interpolation
APS_absolute_arc_moveBegin an absolute position circular interpolation
APS_relative_arc_moveBegin a relative distance circular interpolation
APS_absolute_helical_moveBegin an absolute position helical interpolation
APS_relative_helical_moveBegin a relative distance helical interpolation
10Advanced single move & interpolation
APS_ptp_vBegin a single move with Vm profile
APS_ptp_allBegin a single move with all profile
APS_velBegin a velocity move
APS_vel_allBegin a velocity move with all profile
APS_lineBegin a line move
APS_line_vBegin a line move with Vm profile
APS_line_allBegin a line move with all profile
APS_arc2_caBegin an Arc2 move of angle type
APS_arc2_ca_vBegin an Arc2 move of angle type with Vm profile
APS_arc2_ca_allBegin an Arc2 move of angle type with all profile
APS_arc2_ceBegin an Arc2 move of end position
APS_arc2_ce_vBegin an Arc2 move of end position with Vm profile
APS_arc2_ce_allBegin an Arc2 move of end position with all profile
APS_spiral_ceBegin a 3D spiral-helix move of end position
APS_spiral_ce_vBegin a 3D spiral-helix move of end position with Vm profile
APS_spiral_ce_allBegin a 3D spiral-helix move of end position with all profile
11Interrupt
APS_int_enableInterrupt main switch
APS_set_int_factorEnable/Disable interrupt factor and get interrupt handle.
APS_get_int_factorGet interrupt factor enable or disable
APS_wait_single_intWait single interrupt event
APS_wait_multiple_intWait multiple interrupt events
APS_wait_error_intWait error interrupts( Non-mask )
APS_reset_intReset interrupt event to non-signaled state.
APS_set_intSet interrupt event to signaled state.
APS_set_int_factorHEnable/Disable interrupt factor and get interrupt handle.(Win32)
APS_int_no_to_handleConvert interrupt event number to interrupt handle.(Win32)
APS_register_int_callbackRegister interrupt callback function
13DIO & AIO
APS_write_d_outputSet digital output value
APS_read_d_outputRead digital output value
APS_read_d_inputRead digital input value
APS_write_d_channel_outputSet digital output value by channel
APS_read_d_channel_outputRead digital output value by channel
APS_read_d_channel_inputRead digital input value by channel
18Compare trigger
APS_set_trigger_paramSet trigger parameters
APS_get_trigger_paramGet compare trigger related parameter
APS_set_trigger_linearSet trigger linear comparator
APS_get_trigger_linear_cmpGet trigger linear comparator
APS_set_trigger_table_data_exSet table comparator data and output bit into FIFO
APS_set_trigger_manualSet trigger manual
APS_set_trigger_manual_sManual output trigger synchronously
APS_get_trigger_table_cmpGet current table comparing value
APS_get_timer_counterGet timer count value(simulate for encoder)
APS_set_timer_counterSet timer count value(simulate for encoder)
APS_reset_trigger_countReset trigger counter
APS_get_trigger_countGet trigger counter
APS_get_trigger_table_remain_countGet remaining counter of table comparator
APS_get_trigger_linear_remain_countGet remaining counter of linear comparator
20Manual Pulse Generator functions
APS_manual_pulser_startEnable/Disable PA/PB input
APS_manual_pulser_velocity_moveBegin a pulser velocity move
APS_manual_pulser_relative_moveBegin a pulser relative distance move
APS_manual_pulser_home_moveBegin a pulser home move
29Simultaneous move functions
APS_set_relative_simultaneous_moveSetup a relative simultaneous move
APS_set_absolute_simultaneous_moveSetup a absolute simultaneous move
APS_start_simultaneous_moveBegin a simultaneous move
APS_stop_simultaneous_moveStop a simultaneous move
31Multi-latch functions
APS_set_ltc_fifo_paramSet latch parameter
APS_get_ltc_fifo_paramGet latch parameter
APS_reset_ltc_fifoReset ltc fifo
APS_get_ltc_fifo_pointGet latch point array
APS_get_ltc_fifo_usageGet usage of latch fifo
APS_get_ltc_fifo_free_spaceGet free space of latch fifo
APS_get_ltc_fifo_statusGet fifo status
33Speed Profile Calculation
APS_relative_move_profileGet relative speed profile
APS_absolute_move_profileGet absolute speed profile
38Table definition
AMP-304C board parameter table
AMP-304C Axis parameter table
MNET-4XMO-(C)/1XMO,HSL-4XMO,PCI(e)-8154/8158, PCI-8102/PCI-C154(+), AMP-304C motion IO status table
MNET-4XMO-(C), HSL-4XMO, PCI(e)-8154/8158, PCI-8102 /PCI-C154(+), AMP-304C Motion status definition table
AMP-304C Interrupt Item Definition Table
AMP-304C Trigger parameter table
AMP-304C Latch parameter table
Device information table
APS Functions Return Code
List of all functions for PCIe-8364RS
Sec.Function nameDescriptions
3System and Initialization
APS_initialDevice initialization
APS_closeDevice close
APS_versionGet the version of the library
APS_device_driver_versionGet the driver's version of devices
APS_get_axis_infoGet the information of the specified axis
APS_get_card_nameGet card index
APS_disable_deviceDisable cards
APS_set_board_paramSet board parameter
APS_get_board_paramGet board parameter
APS_set_axis_paramSet axis parameter
APS_get_axis_paramGet axis parameter
APS_set_axis_param_fSet axis parameter by double
APS_get_axis_param_fGet axis parameter by double
APS_get_system_timerGet system timer counter
APS_get_device_infoGet device information
APS_save_parameter_to_flashSave system & axes parameters to flash
APS_load_parameter_from_flashLoad system & axes parameters from flash
APS_load_parameter_from_defaultLoad system & axes parameters by default value.
APS_load_param_from_fileLoad parameters from file
APS_get_msg_sizeGet message queue size
APS_get_msg_dataGet message queue data
5Motion IO and motion status
APS_motion_statusReturn motion status
APS_motion_io_statusReturn motion IO status
APS_set_servo_onSet servo ON/OFF
APS_get_position_fGet feedback position by double
APS_set_position_fSet feedback position by double
APS_get_command_fGet command position by double
APS_set_command_fSet command position by double
APS_get_target_position_fGet target position by double
APS_get_error_position_fGet error position by double
APS_get_command_velocity_fGet command velocity by double
APS_get_feedback_velocity_fGet feedback velocity by double
APS_get_mq_free_spaceGet free space of motion queue
APS_get_mq_usageGet usage of motion queue
APS_get_stop_codeGet stop code
APS_get_encoderGet raw feedback counter
APS_get_command_counterGet raw command counter
6Single axis motion
APS_home_moveBegin a home move
APS_stop_moveStop move
APS_emg_stopEmergency stop
7Multi-axes move trigger & stop
APS_move_triggerSend a trigger to sync all waiting moves
APS_stop_move_multiMulti-axes stop move
APS_emg_stop_multiMulti-axes emg stop move
8Jog move
APS_jog_startStart / stop jog move
10Advanced single move & interpolation
APS_ptpBegin a single move
APS_ptp_vBegin a single move with Vm profile
APS_ptp_allBegin a single move with all profile
APS_velBegin a velocity move
APS_vel_allBegin a velocity move with all profile
APS_lineBegin a line move
APS_line_vBegin a line move with Vm profile
APS_line_allBegin a line move with all profile
APS_arc2_caBegin an Arc2 move of angle type
APS_arc2_ca_vBegin an Arc2 move of angle type with Vm profile
APS_arc2_ca_allBegin an Arc2 move of angle type with all profile
APS_arc2_ceBegin an Arc2 move of end position
APS_arc2_ce_vBegin an Arc2 move of end position with Vm profile
APS_arc2_ce_allBegin an Arc2 move of end position with all profile
APS_arc3_caBegin an Arc3 move of angle type
APS_arc3_ca_vBegin an Arc3 move of angle type with Vm profile
APS_arc3_ca_allBegin an Arc3 move of angle type with all profile
APS_arc3_ceBegin an Arc3 move of end position
APS_arc3_ce_vBegin an Arc3 move of end position with Vm profile
APS_arc3_ce_allBegin an Arc3 move of end position with all profile
APS_spiral_caBegin a 3D spiral-helix move of angle type
APS_spiral_ca_vBegin a 3D spiral-helix move of angle type with Vm profile
APS_spiral_ca_allBegin a 3D spiral-helix move of angle type with all profile
APS_spiral_ceBegin a 3D spiral-helix move of end position
APS_spiral_ce_vBegin a 3D spiral-helix move of end position with Vm profile
APS_spiral_ce_allBegin a 3D spiral-helix move of end position with all profile
11Interrupt
APS_int_enableInterrupt main switch
APS_set_int_factorEnable/Disable interrupt factor and get interrupt handle.
APS_get_int_factorGet interrupt factor enable or disable
APS_wait_single_intWait single interrupt event
APS_wait_multiple_intWait multiple interrupt events
APS_reset_intReset interrupt event to non-signaled state.
APS_set_intSet interrupt event to signaled state.
APS_set_int_factorHEnable/Disable interrupt factor and get interrupt handle.(Win32)
APS_int_no_to_handleConvert interrupt event number to interrupt handle.(Win32)
12Sampling
APS_set_sampling_paramSet sampling parameter.
APS_get_sampling_paramGet sampling parameter.
APS_wait_trigger_samplingWaiting for sample data.
APS_wait_trigger_sampling_asyncWaiting for sample data asynchronously
APS_get_sampling_countGet sampled data count
APS_stop_wait_samplingForce stop wait sampling
APS_auto_samplingStart/Stop auto sampling
APS_get_sampling_dataGet sampling data in auto sampling mode by 4 Channels.
APS_set_sampling_param_exSet sampling parameter by structure. It is an extension to 8 channels.
APS_get_sampling_param_exGet sampling parameter by structure. It is an extension to 8 channels.
APS_wait_trigger_sampling_exWaiting for sample data. It is an extension to 8 channels.
APS_wait_trigger_sampling_async_exWaiting for sample data asynchronously. It is an extension to 8 channels.
APS_get_sampling_data_exGet sampling data in auto sampling mode. It is an extension to 8 channels.
13DIO & AIO
APS_set_field_bus_d_channel_outputSet field bus digital output by channel
APS_get_field_bus_d_channel_outputGet field bus digital output by channel
APS_get_field_bus_d_channel_inputGet field bus digital input by channel
APS_set_field_bus_d_port_outputSet field bus digital output by port
APS_get_field_bus_d_port_inputGet field bus digital input by port
APS_get_field_bus_d_port_outputGet field bus digital output by port
APS_write_d_outputSet digital output value
APS_read_d_outputRead digital output value
APS_read_d_inputRead digital input value
APS_write_d_channel_outputSet digital output value by channel
APS_read_d_channel_outputRead digital output value by channel
APS_read_d_channel_inputRead digital input value by channel
15Advanced Point table
APS_pt_enableEnable point table.
APS_pt_disableDisable point table.
APS_get_pt_infoGet information of point table.
APS_pt_set_vsSet configuration of Vs to point table
APS_pt_get_vsGet configuration of Vs in the point table
APS_pt_startSet control command to point table
APS_pt_stopStop point table
APS_get_pt_statusGet status of point table
APS_reset_pt_bufferReset buffer of point table
APS_pt_roll_backRollback to previous point
APS_pt_dwellPush a dwell move into point buffer of point table.
APS_pt_linePush a line move into point buffer of point table.
APS_pt_arc2_caPush a 2d arc move into point buffer of point table.
APS_pt_arc2_cePush a 2d arc move into point buffer of point table.
APS_pt_arc3_caPush a 3d arc move into point buffer of point table.
APS_pt_arc3_cePush a 3d arc move into point buffer of point table.
APS_pt_spiral_caPush a helical move into point buffer of point table.
APS_pt_spiral_cePush a helical move into point buffer of point table.
APS_pt_ext_set_do_chControl digital output within advanced point-table in slave
APS_pt_set_absoluteSet absolute profile into profile buffer.
APS_pt_set_relativeSet relative profile into profile buffer.
APS_pt_set_trans_bufferedSet transition to buffer mode in profile buffer.
APS_pt_set_trans_inpSet transition to in-position mode in profile buffer.
APS_pt_set_trans_blend_decSet transition to blending mode with deceleration in profile buffer.
APS_pt_set_trans_blend_distSet transition to blending mode with residue distant in profile buffer.
APS_pt_set_trans_blend_pcntSet transition to blending mode with residue distant percetange in profile buffer.
APS_pt_set_accSet acceleration profile into profile buffer.
APS_pt_set_decSet deceleration profile into profile buffer.
APS_pt_set_acc_decSet acceleration / deceleration profile into profile buffer
APS_pt_set_sSet S-factor profile into profile buffer.
APS_pt_set_vmSet maximum velocity profile into profile buffer.
APS_pt_set_veSet end velocity profile into profile buffer.
16Field bus functions
APS_start_field_busStart the network of specified field bus
APS_stop_field_busStop the network of specified field bus
APS_set_field_bus_a_outputSet field bus analog output
APS_get_field_bus_a_outputGet field bus analog output
APS_get_field_bus_a_inputGet field bus analog input
APS_get_field_bus_master_statusGet field bus master status
APS_get_field_bus_last_scan_infoGet fieldbus info after system scanning.
APS_get_field_bus_module_infoGet slave information
APS_reset_field_bus_alarmReset the alarm signal of slave
APS_get_field_bus_alarmGet alarm code of slave
APS_get_field_bus_module_mapGet mapped slave ID in manual ID mode
APS_get_field_bus_slave_stateGet the status of slave's state machine
APS_get_system_loadingGet system loop loading
APS_set_drive_input_mappingSet drive input mapping
APS_set_trigger_output_mappingSet trigger output mapping
17Gear / Gantry functions
APS_start_gearEnable/Disable a specified gear mode
APS_get_gear_statusGet gear status
APS_get_gantry_numberGet number of this master's corresponding slaves
APS_get_gantry_infoGet slave axis ID array
APS_get_gantry_deviationGet position deviation between master and slaves
18Compare trigger
APS_set_trigger_paramSet compare trigger related parameter
APS_get_trigger_paramGet compare trigger related parameter
APS_set_trigger_linearSet linear comparing function
APS_set_trigger_tableSet table comparing function
APS_set_trigger_manualManual output trigger
APS_set_trigger_manual_sManual output trigger synchronously
APS_get_trigger_table_cmpGet current table comparing value
APS_get_trigger_linear_cmpGet current linear comparing value
APS_get_trigger_countGet triggered count
APS_reset_trigger_countReset triggered count
APS_get_timer_counterGet timer count
APS_set_timer_counterSet timer count
APS_get_trigger_table_remain_countGet remaining counter of table comparator
APS_get_trigger_linear_remain_countGet remaining counter of linear comparator
20Manual Pulse Generator functions
APS_manual_pulser_startStart manual pulser operation
APS_manual_pulser_velocity_moveStart velocity move in manual pulser operation
26Watch dog timer
APS_wdt_startStart / Stop watch dog timer
APS_wdt_get_timeout_periodGet a timeout period of watch dog timer
APS_wdt_reset_counterReset counter of watch dog timer
APS_wdt_get_counterGet counter of watch dog timer
APS_wdt_set_action_eventSet action event of watch dog timer
APS_wdt_get_action_eventGet action event of watch dog timer
31Multi-latch functions
APS_set_ltc_fifo_paramSet latch parameter value
APS_get_ltc_fifo_paramGet latch parameter value
APS_reset_ltc_fifoReset latch queue and fifo
APS_get_ltc_fifo_usageGet latch queue used space
APS_get_ltc_fifo_free_spaceGet latch queue free space
APS_get_ltc_fifo_statusGet latch queue and fifo status
APS_get_ltc_fifo_pointGet latch point array
34Backlash functions
APS_set_backlash_enEnable/Disable backlash
APS_get_backlash_enCheck backlash is enabled / disabled
38Table definition
PCIe-8364RS board parameter table
PCIe-8364RS Axis parameter table
Sampling parameter table for PCI-8392(H), PCI-8253/56, MNET-4XMO, PCI-8254/58 / AMP-204/8C, PCIe-833x and PCIe-8364RS
ECAT-4XMO/ECAT-4XMO-MT and PCIe-8364RS sampling source table
PCIe-8364RS motion IO status table
PCIe-8364RS Motion status definition table
PCIe-8364RS Interrupt Item Definition Table
PCIe-8364RS Trigger parameter table
PCIe-8364RS Latch parameter table
Device information table
APS Functions Return Code # 3. System and Initialization # APS\_initial Support Products： PCI-8253/56, PCI-8392 (H), DPAC-1000, DPAC-3000, PCI-8144,PCI(e)-7856, PCI(e)- 8154/8158, PCI-8102/ PCI-C154(+), EMX-100, PCI-8254/58 / AMP-204/8C, PCIe-833x, AMP-104C, AMP-304C, PCIe-8364RS # Descriptions： This function is used to initialize all products on local controller supported by APS function library. It allocates system hardware resources for each board including I/O address, memory address, IRQ and DMA if needed. It retrieves a board ID for each board which is assigned by on-board switch or operating system. The board ID is a unique number for the board in the system. It is used for any other APS functions to access corresponding hardware. If users choose on-board switch (Mode = manual ID) initial mode and there are some boards don’t support this feature in the system, the board ID of these boards will be arranged after the boards having on-board switch automatically. The card ID (dip-switch) cannot be set the same when you used “manual-ID” or the function will return error. For EMX-100： NOTE： (1) After EMX series product’s power on or reconnection is completed, it is suggested to execute APS\_initial() 20 seconds later. (2) Before using APS\_initial(), user has to register EMX series product in APS library using APS\_register\_emx(). # Syntax： C/C++： I32 FNTYPE APS\_initial(I32 \*BoardID\_InBits, I32 Mode); Visual Basic： APS\_initial (BoardID\_InBits As Long, ByVal Mode As Long) As Long # Parameters： I32 \* BoardID\_InBits： Card ID information in bit format. Example： If the value of BoardID\_InBits is 0x11 which means that there are 2 cards in your system and those card‘s ID are 0 and 4. I32 Mode：
Bit 0Enable the On board dip switch (SW1) to decide the Card ID. [0 : By system assigned, 1 : By dip switch]
Bit 1Parallel type axis indexing mode0 : auto mode (default)1 : fixed mode
Bit 2Serial type axis indexing mode For PCIe-833x, PCIe-8364RS: [Note 1]0 : auto mode (default)1 : fixed mode
Bit 4Bit 5Option of load system & axes parameters method.For PCI-8253/6 and PCI-8392(H)(00B) 0 : load according to boot mode setting in each board parameter.(01B) 1 : load from default for all boards(02B) 2 : load from flash for all boardsFor PCI-8254/58 / AMP-204/8C and PCIe-833x, PCIe-8364RS(00B) 0 : Do nothing, parameters keep current value.(01B) 1 : Load from default(02B) 2 : Load from flash(*1)
Bit 6Option to select system mode. (PCI(e)-7856 Only)(0) – Polling mode. (Not support motion interrupt)(1)– Interrupt mode. (Support motion interrupt)
Bit 9Option to select behavior of MDN bit of motion status. (PCI-8254/58 / AMP-204/8C and PCIe-833x, PCIe-8364RS) only0 : MDN turns on when CSTP or ASTP occurs. (default)1 : MDN turns on when CSTP occurs.
Bit 10Field bus Slave ID number setting.( PCIe-833x, PCIe-8364RS Only) [Note 1]0 : The slave ID number be auto assigned by system. (start from zero)1 : The slave ID number be manual assigned by user setting.
Bit 11Endow advanced single move & interpolation moving interface with asynchronous ability( PCIe-833x only ). Refer [Note 2] for more details.0 : Asynchronous mode disable. (Default setting)1 : Asynchronous mode enable.
OthersReserved(set it to 0)
Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```c I32 ret; // return value I32 BoardID_InBits; I32 Mode = 0; //By system assigned For EMX-100 : ret = APS_register_emx(1, 0); // Register EMX series products in APS library ret = APS_initial(&BoardID_InBits, Mode); ...// Do something ret = APS_close(); //Close all cards in the system ``` See also： ```cmake For EMX-100 : APS_register_emx() APS_close();APS_get_axis_info() ``` For PCIe-833X, PCIe-8364RS： [Note 1] As follows is the usage of manual slave ID number setting： [Step 1] for 833x Use MotionCreatorPro 2 (MCP2) utility program to set the manual slave ID number into each online slave. After that, close MCP2 and turn off the power of all online slaves. [Step 1] for 8364RS The manual slave ID is pared by Device Name, which is set by SIEMENS software. The naming rule is “dxxxx”, which xxxx is 4 digits with leading zeros. The range is from d0000 to d9999. Please make sure these device name are unique in the same system. [Step 2] Turn on the power of all online slaves. According to the [TABLE 1], user can select relationship mapping between slave ID and axis ID by the parameter “I32 Mode” in APS\_initial(). [Step 3] Execute APS\_start\_field\_bus() to start communication. Then the relationship mapping between slave ID and axis ID will be indicated by [TABLE 1]. Now, user can indicate slave ID or axis ID to control each online slave. [TABLE 1]
Slave IDAxis ID
[Selection 1]I32 Mode = 0x0(bit 10 = 0, bit 2 = 0)Assigned by system (start from zero)Example :Slave ID : 0,1,2,3...Assigned by system (start from zero)Example :Axis ID : 0,1,2,3...
[Selection 2]I32 Mode = 0x400(bit 10 = 1, bit 2 = 0)Assigned by user's setting (by MCP2 utility)Example :Slave ID : 100,200,300,400...Assigned by parameter "I32 Starting_Axis_ID" in APS_start_field_bus()Example :I32 Starting_Axis_ID = 1000;Axis ID :1000,1001,1002,1003...
[Selection 3]I32 Mode = 0x404(bit 10 = 1, bit 2 = 1)Assigned by user's setting (by MCP2 utility)Example :Slave ID : 100,200,300,400...Refer to slave ID.For detail, please refer to example [TABLE 2].
[TABLE 2]
Slave ID (Assigned by user's setting)Numbers of axisAxis ID
1001100
2002200,201
3003300,301,302
4001400
# [Note 2] a. Advanced single move & interpolation API can execution asynchronous function call through ASYNCALL argument when bit 11 set to “1”. b. The position and status of axis must read by API listed as below： APS\_get\_command\_f\_async APS\_get\_position\_f\_async APS\_motion\_status\_async APS\_motion\_io\_status\_async c. If it’s needed to know whether the command is success or not when using asynchronous motion, please refer to the returned value of Bit 23(ASYNCERR) by APS\_motion\_status\_async and to the last returned value by APS\_get\_last\_error. d. Asynchronous API can be executed when asynchronous API mode enabled only. e. Synchronous API can not be executed when asynchronous API mode enabed. f. Illstration for comparing synchronous API mode and asynchronous API mode. ![This block diagram illustrates a three-tier communication structure involving software and hardware components.\n\n**Labeled Blocks:**\n* **Top:** User's program\n* **Middle:** APS DLL\n* **Bottom:** Card\n\n**Connections:**\n* **Arrow ①:** Points downward from 'User's program' to 'APS DLL'.\n* **Arrow ④:** Points upward from 'APS DLL' to 'User's program'.\n* **Arrow ②:** Points downward from 'APS DLL' to 'Card'.\n* **Arrow ③:** Points upward from 'Card' to 'APS DLL'.](.aps-functionlibrary-v2-1/fa9d332920a1788030fec527d2e3522d59077ea0264a82680c1b90aebd023df3.jpg) ![**Labeled Blocks:**\n* User's program\n* APS DLL\n* Buffer\n* Card\n\n**Connections:**\n* **User's program** to **APS DLL**: An arrow labeled **(1)** points downward.\n* **APS DLL** to **User's program**: An arrow labeled **(4)** points upward.\n* **APS DLL** to **Buffer**: An arrow labeled **(2)** points downward.\n* **Buffer** to **APS DLL**: An arrow labeled **(3)** points upward.\n* **Buffer** to **Card**: An arrow points downward.\n* **Card** to **Buffer**: An arrow points upward.](.aps-functionlibrary-v2-1/d233b3c1b5b3a78c2f785c1984236aba7968f7f41fc75e15cf56da243d51e63d.jpg)
Synchronous API function call flowAsynchronous API function call flow
1Sync API function call(1)Async API function call
2Hardware access(2)Buffer access
3Hardware echo result(3)Buffer echo directly
4Function call finish(4)Function call finish
# APS\_close Support Products： PCI-8253/56, PCI-8392 (H), DPAC-1000, DPAC-3000, PCI-8144, PCI(e)-7856, PCI(e)- 8154/8158, PCI-8102/ PCI-C154(+), EMX-100, PCI-8254/58 / AMP-204/8C, PCIe-833x, AMP-104C, AMP-304C, PCIe-8364RS # Descriptions： This function is used to close all resources allocated by APS library. The resources include system hardware resource like I/O address, memory address, IRQ and DMA. It also deletes some objects, handles or memory allocated by APS library. # Syntax： C/C++： I32 FNTYPE APS\_close() Visual Basic： APS\_close() As Long # Parameters： No parameter. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```c I32 ret; // return value I32 BoardID_InBits; I32 Mode = 0; // By system assigned For EMX-100 : ret = APS_register_emx(1, 0); // Register EMX series products in APS library ret = APS_initial(&BoardID_InBits, Mode); ``` ```txt ...// Do something ret = APS_close(); //Close all cards in the system ``` # See also： ```cmake APS_initial() ``` # APS\_version Support Products ： PCI-8253/56, PCI-8392 (H), DPAC-1000, DPAC-3000, PCI-8144, PCI(e)-7856, PCI(e)-8154/8158, PCI-8102/ PCI-C154(+), EMX-100, PCI-8254/58 / AMP-204/8C , PCIe-833x, AMP-104C, AMP-304C,PCIe-8364RS Descriptions ： This function is used to get APS library (DLL) version information. Syntax： C/C++： I32 FNTYPE APS\_version(); Visual Basic： APS\_version() As Long Parameters： No Parameters Return Values： Return library (DLL) version. Example： I32 version; version = APS\_version(); See also： # APS\_device\_driver\_version Support Products ： PCI-8253/56, PCI-8392 (H), DPAC-1000, DPAC-3000, PCI-8144, PCI(e)-7856, PCI(e)-8154/8158, PCI-8102/ PCI-C154(+), PCI-8254/58 / AMP-204/8C , PCIe-833x, AMP-104C, AMP-304C, PCIe-8364RS # Descriptions ： This function is used to get device driver version information of one board. The version information is the same for one type of board in system. # Syntax： C/C++ I32 FNTYPE APS\_device\_driver\_version( I32 Board\_ID ) Visual Basic： APS\_device\_driver\_version( ByVal Board\_ID As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). # Return Values： Positive value： The device driver version number, Negative value： Error code： Please refer to error code table. # Example： I32 version; //Get device driver version of board 0 version = APS\_device\_driver\_version( 0 ); See also： # APS\_get\_axis\_info Support Products： PCI-8253/56, PCI-8392 (H) , DPAC-3000 , PCI-8144, PCI(e)-7856, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, PCI(e)-8154/8158, PCI-8102/ PCI-C154(+), EMX-100, PCI-8254/58, PCI-8254/58 / AMP-204/8C, PCIe-833x, AMP-104C, ECAT-4XMO, ECAT-4XMO-MT, AMP-304C, PCIe-8364RS # Descriptions： This function is used to get information of one axis. The information includes attached board ID, serial port ID, serial module ID and module type. There are two categories for axis ID index： parallel and serial types. PCI-8254/58 and PCI-8392 SSCNET 3 are parallel type axis. MNET-4XMO-(C) and HSL-4XMO are serial type axis. The parallel type axis ID indexing rule is according to the board ID. The formula is： Axis ID = Board ID x Maximum number of axis within one board + Axis No The Axis No parameter is the axis number within the board. The Maximum number of axis within one board parameter is an inside system variable of APS library. If APS system is running under auto mode, the value depends on board type. If APS system is running under fixed mode, the default value is 64. If the system has some boards without axes, it still counts the formula when indexing under fixed mode. Fixed mode is useful for users to remove/add some boards from system without rearranging axis index. For example, a user has two boards： PCI-8392 and PCI-8258 .
PCI-8392 (ID=0), 8-axisPCI-8258 (ID=1), 8-axis
Auto ModeAxis ID ranges 0~7Axis ID ranges 8~15
Fixed ModeAxis ID ranges 0~7Axis ID ranges 64~72
If the board ID is not continuous,
PCI-8392 (ID=0), 8-axisPCI-8258 (ID=3), 8-axis
Auto ModeAxis ID ranges 0~7Axis ID ranges 8~15
Fixed ModeAxis ID ranges 0~7Axis ID ranges 192~200
The serial type axis ID indexing rule is according to the module ID and assigned with a starting axis ID first. The formula of serial port axis would be： Axis ID = Module ID x Maximum number of axis within one module + Starting Axis ID of port + Axis No The Axis No parameter is the axis number within the module. The Maximum number of axis within this module parameter is an inside port variable of APS library. If APS field bus system is running under auto mode, the value depends on module type. If APS field bus system is running under fixed mode, the default value is 4. Starting Axis ID of port parameter is the starting axis ID of one port assigned by users when field bus starts. The default value is 0. In fixed mode, if the port has some modules without axis, it still counts the formula when indexing. Fixed mode is useful for users to remove/add some modules from system without rearranging axis index of other modules For example, a user has 2 MNET modules on PCI(e)-7856 with board ID=0
MNET-J3 (ID=0)MNET-4XMO (ID=1), 4-axis
Auto ModeAxis ID ranges 0 onlyAxis ID ranges 1~4
Fixed ModeAxis ID ranges 0~3Axis ID ranges 4~7
If the module ID is not continuous,
MNET-J3 (ID=0)MNET-4XMO (ID=2), 4-axis
Auto ModeAxis ID ranges 0 onlyAxis ID ranges 1~4
Fixed ModeAxis ID ranges 0~3Axis ID ranges 8~11
For EMX-100, PCIe-833x and PCIe-8364RS, this function is used to get information of specified axis. The information includes corresponding board ID, number of axis on board, number of bus and auto slave ID. # Syntax： C/C++： I32 FNTYPE APS\_get\_axis\_info( I32 Axis\_ID, I32 \*Board\_ID, I32 \*Axis\_No, I32 \*Port\_ID, I32 \*Module\_ID ); Visual Basic： APS\_get\_axis\_info(ByVal Axis\_ID As Long, Board\_ID As Long, Axis\_No As Long, Port\_ID As Long, Module\_ID As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535 I32 \*Board\_ID： The returned board ID for the Axis ID. Range is from 0 to 31. I32 \*Axis\_No： The axis number within the board. Range is from 0 to maximum number of axis within this module. I32 \*Port\_ID： The returned field bus port ID of board for the axis. Range is from 0 to 15. \*Port\_ID=-1 means no serial port exists. For PCI(e)-7856, HSL field bus is Port ID 0 and MNET field bus is Port ID 1. I32 \*Module\_ID： The returned module ID of port for the axis. Range is from 0\~65535. \*Module\_ID=-1 means no serial port exists. For High Speed Link(HSL) type field bus, the range of module number is 1 to 63. Note： In HSL, the Module\_ID is the first id occupied by the module. For MNET field bus, Range is from 0\~63. For EMX-100, PCIe-8364RS and PCIe-833x： I32 Axis\_ID： The axis ID. That support auto axis ID and manual axis ID simultaneously. In manual axis ID, the input range is from 1000 to 655357. I32 \*Board\_ID： Return the corresponding board ID. I32 \*Axis\_No： Return the corresponding number of axis on board. I32 \*Port\_ID： Return the corresponding number of bus. I32 \*Module\_ID： Return the corresponding auto slave ID. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Axis\_ID = 0; I32 Board\_ID, Axis\_No, Port\_ID, Module\_ID; //According to axis id, get related information APS\_get\_axis\_info( Axis\_ID, & Board\_ID, &Axis\_No, &Port\_ID, &Module\_ID ); # See also： APS\_start\_field\_bus();APS\_initial() # APS\_get\_card\_name Support Products： PCI-8253/56, PCI-8392 (H) , DPAC-1000,DPAC-3000 , PCI-8144, PCI(e)-7856, PCI(e)- 8154/8158, PCI-8102/ PCI-C154(+), EMX-100 , PCI-8254/58 / AMP-204/8C , PCIe-833x, AMP-104C, AMP-304C, PCIe-8364RS # Descriptions： This function is used to get card name. After executing APS\_initial(), user could get each board’s name by passing specified board id. # Syntax： C/C++： I32 FNTYPE APS\_get\_card\_name ( I32 Board\_ID, I32 \*CardName ); Visual Basic： APS\_get\_card\_name (ByVal Board\_ID As Long, CardName As Long) As Long # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. I32 \* CardName： Board’s name of specified board id.
0 : PCI_8392,1 : PCI_825x,2 : PCI_8154,3 : PCI_785X
4 : PCI_8158,5 : PCI_7856,6 : ISA_DPAC1000,7 : ISA_DPAC3000,
8 : PCI_8144,9 : PCI_8258,10 : PCI_8102,11 : PCI_V8258,
12 : PCI_V8254,13 : PCI_8158A,14 : PCI_20408C,15 : PCI_8353,
16 : PCI_8392F,17 : PCI_C154,18 : PCI_C154_PLUS,19 : PCI_8353_RTX,
20 : PCIe_8338,21 : PCIe_8154,22 : PCIE_8158,23 : ENET_EMX100,
24 : PCIe_8334,26 : PCIe-8331,27 : PCIE_7856,28 : AMP-104C,
29 : AMP_304C,30 : Reserved,31 : Reserved,32 : PCIe-8364RS
# Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 CardName; //Board id is 0. Get board’s name APS\_get\_card\_name ( 0, & CardName); # See also： # APS\_disable\_device Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, PCIe-8364RS # Descriptions ： This function could disable specified board via its name. It is used to ignore the disabling device during initialization. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_disable\_device( I32 DeviceName ); Visual Basic： APS\_disable\_device( ByVal DeviceName As Long ) As Long # Parameters： I32 DeviceName ： Specify a device name. 0： PCI\_8392, 1： PCI\_825x, 2： PCI\_8154, 3： PCI\_785X 4： PCI\_8158, 5： PCI\_7856, 6： ISA\_DPAC1000, 7： ISA\_DPAC3000 8： PCI\_8144, 9： PCI\_825458, 10： PCI\_8102, 11： PCI\_V8258 12： PCI\_V8254, 13： PCI\_8158A, 14： PCI\_20408C, 15： PCI\_8353 16： PCI\_8392F, 17： PCI\_C154, 18： PCI\_C154\_PLUS, 19： PCI\_8353\_RTX 20： PCIe\_8338, 21： PCIe\_8154, 22： PCIE\_8158, 23： ENET\_EMX100, 24： PCIe\_833425：PCIe\_8332, 26：PCIE\_8331, 27：PCIE\_7856, 32： PCIe-8364RS # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 BoardID\_InBits; //Disable PCI-8258 APS\_disable\_device( 9 ); //Initial all card, but PCI\_8258 APS\_initial( &BoardID\_InBits, 0 ); # See also： # APS\_set\_board\_param Support Products： PCI-8253/56, PCI-8392 (H), DPAC-1000, DPAC-3000, PCI(e)-7856, EMX-100 , PCI-8254/58 / AMP-204/8C , PCIe-833x, AMP-304C, PCIe-8364RS # Descriptions： This function is used to set all kinds of parameter which has relationship with a board. Please refer to the board parameter table for the definition and detail descriptions. # Syntax： C/C++ I32 FNTYPE APS\_set\_board\_param( I32 Board\_ID, I32 BOD\_Param\_No, I32 BOD\_Param ); Visual Basic： APS\_set\_board\_param (ByVal Board\_ID As Long, ByVal BOD\_Param\_No As Long, ByVal BOD\_Param As Long) As Long # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. I32 BOD\_Param\_No： Board parameter number. Please refer the board parameter table for definition. I32 BOD\_Param： Board parameter value. Refer to the board parameter table for detail. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： //Board id is 0. Set EMG logic to 1. APS\_set\_board\_param( 0, 0x00, 1 ); # See also： APS\_get\_board\_param() # APS\_get\_board\_param Support Products： PCI-8253/56, PCI-8392 (H), DPAC-1000, DPAC-3000, PCI(e)-7856, EMX-100 , PCIe-833x, AMP-304C, PCIe-8364RS # Descriptions： This function is used to get all kinds of parameter which has relationship with a board. Please refer to the board parameter table for the definition and detail descriptions. # Syntax： C/C++： I32 FNTYPE APS\_get\_board\_param( I32 Board\_ID, I32 BOD\_Param\_No, I32 \*BOD\_Param ); Visual Basic： APS\_get\_board\_param (ByVal Board\_ID As Long, ByVal BOD\_Param\_No As Long, BOD\_Param As Long) As Long # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. I32 BOD\_Param\_No： Board parameter number. Please refer the board parameter table for definition. I32 \*BOD\_Param： The returned board parameter value. Refer to board parameter table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 paramVal; //Board id is 0. Get EMG logic. APS\_get\_board\_param( 0, 0x00, & paramVal ); # See also： APS\_set\_board\_param() # APS\_set\_axis\_param Support Products： PCI-8253/56, PCI-8392 (H), PCI-8144, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, PCI(e)- 8154/8158, PCI-8102/ PCI-C154(+), EMX-100 , PCI-8254/58 / AMP-204/8C, PCIe-833x, AMP-104C, ECAT-4XMO, ECAT-4XMO-MT, AMP-304C, PCIe-8364RS # Descriptions： This function is used to set all kinds of parameter of one axis. The parameters include run mode, acceleration rate, deceleration rate, Jerk, motion I/O logic and so on. Please refer to the axis parameter table for the definition and detail descriptions. # Syntax： C/C++ I32 FNTYPE APS\_set\_axis\_param( I32 Axis\_ID, I32 AXS\_Param\_No, I32 AXS\_Param ); Visual Basic： APS\_set\_axis\_param(ByVal Axis\_ID As Long, ByVal AXS\_Param\_No As Long, ByVal AXS\_Param As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 AXS\_Param\_No： Axis parameter number from 0 to 65535. Each parameter is defined by a unique symbolin 3\~6 characters .Refer to axis parameter table. I32 AXS\_Param： Axis parameter value. Refer to axis parameter table # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： //Axis id is 0. Set EL logic to 1 APS\_set\_axis\_param ( 0, 0x00, 1 ); # See also： APS\_get\_axis\_param() # APS\_get\_axis\_param Support Products： PCI-8253/56, PCI-8392 (H), PCI-8144, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, PCI(e)- 8154/8158, PCI-8102/ PCI-C154(+), EMX-100 , PCI-8254/58 / AMP-204/8C, PCIe-833x, AMP-104C, ECAT-4XMO, ECAT-4XMO-MT, AMP-304C, PCIe-8364RS # Descriptions： This function is used to get all kinds of parameter of one axis. The parameters include run mode, acceleration rate, deceleration rate, Jerk, motion I/O logic and so on. Please refer to the axis parameter table for the definition and detail descriptions. # Syntax： C/C++： I32 FNTYPE APS\_get\_axis\_param( I32 Axis\_ID, I32 AXS\_Param\_No, I32 \*AXS\_Param ); Visual Basic： APS\_get\_axis\_param (ByVal Axis\_ID As Long, ByVal AXS\_Param\_No As Long, AXS\_Param As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 AXS\_Param\_No： Axis parameter number from 0 to 65535. Each parameter is defined by a unique symbolin 3\~6 characters .Refer to axis parameter table. I32 \*AXS\_Param： Axis parameter value. Refer to axis parameter table # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 paramVal; //Axis id is 0. Get EL logic APS\_get\_axis\_param ( 0, 0x00, ¶mVal ); # See also： APS\_set\_axis\_param() # APS\_set\_axis\_param\_f Support Products ： PCIe-8154/8158, PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT,PCIe-8364RS # Descriptions： This function is used to set parameters by double. Those double parameters include acceleration rate, deceleration rate, Jerk and so on. Please refer to the axis parameter table for the definition and detailed descriptions. # Syntax： C/C++ I32 FNTYPE APS\_set\_axis\_param\_f( I32 Axis\_ID, I32 AXS\_Param\_No, F64 AXS\_Param ); Visual Basic： APS\_set\_axis\_param\_f(ByVal Axis\_ID As Long, ByVal AXS\_Param\_No As Long, ByVal AXS\_Param As Double) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 AXS\_Param\_No： Axis parameter number from 0 to 65535. Each parameter is defined by a unique symbolin 3\~6 characters .Refer to axis parameter table. F64 AXS\_Param： Axis parameter value. (F64 type) Refer to axis parameter table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： //Axis id is 0. Set acceleration to 100000.0 APS\_set\_axis\_param\_f ( 0, 0x13, 100000.0 ); # See also： APS\_get\_axis\_param\_f();APS\_set\_axis\_param();APS\_get\_axis\_param() # APS\_get\_axis\_param\_f Support Products ： PCIe-8154/8158, PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT,PCIe-8364RS # Descriptions： This function is used to get axis parameters by flaot. The double parameters include acceleration rate, deceleration rate, Jerk and so on. Please refer to the axis parameter table for the definition and detailed descriptions. # Syntax： C/C++： I32 FNTYPE APS\_get\_axis\_param\_f( I32 Axis\_ID, I32 AXS\_Param\_No, F64 \*AXS\_Param ); Visual Basic： APS\_get\_axis\_param\_f(ByVal Axis\_ID As Long, ByVal AXS\_Param\_No As Long, AXS\_Param As Double) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 AXS\_Param\_No： Axis parameter number from 0 to 65535. Each parameter is defined by a unique symbolin 3\~6 characters .Refer to axis parameter table. F64 \*AXS\_Param： Axis parameter value. (F64 type) Refer to axis parameter table # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： F64 paramVal; //Axis id is 0. Get acceleration APS\_get\_axis\_param\_f ( 0, 0x13, ¶mVal ); # See also： APS\_set\_axis\_param\_f();APS\_set\_axis\_param();APS\_get\_axis\_param() # APS\_get\_system\_timer Support Products： PCI-8253/56, PCI-8392 (H), PCI-8254/58 / AMP-204/8C , PCIe-833x, PCIe-8364RS # Descriptions： This function is used to get system timer counter.The counter will count up every cycle time after system is ready. Users can use this function to check if the system is under control or not. # Syntax： C/C++： I32 FNTYPE APS\_get\_system\_timer( I32 Board\_ID, I32 \*Timer ); Visual Basic： APS\_get\_system\_timer( ByVal Board\_ID As Long, Timer As Long ) As Long # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. I32 \*Timer： return system timer. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 timer; //Get system timer of board id 0 APS\_get\_system\_timer( 0, &timer ); See also： # APS\_get\_device\_info Support Products： PCI-8253/56, PCI-8392 (H), DPAC-1000, DPAC-3000, PCI-8144, PCI(e)-7856, PCI(e)- 8154/8158, PCI-8102/ PCI-C154(+), EMX-100 , PCI-8254/58 / AMP-204/8C , PCIe-833x, AMP-104C, AMP-304C, PCIe-8364RS # Descriptions： This function is used to get specified device (board) information. The information includes driver version, firmware version, PCB version and so on. Refer to device information table. # Syntax： C/C++ I32 FNTYPE APS\_get\_device\_info( I32 Board\_ID, I32 Info\_No, I32 \*Info ); Visual Basic： APS\_get\_device\_info( ByVal Board\_ID As Long, ByVal Info\_No As Long, Info As Long ) As Long # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. I32 Info\_No： Reference to device information table. I32 \*Info： Reference to device information table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Info; ret = APS\_get\_device\_info( 0, 1, &Info ); if( ret != ERR\_NoError ) { //Show device information. } See also： # APS\_get\_first\_axisId Support Products： EMX-100, PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to get first axis id of specified board. # Syntax： C/C++： I32 FNTYPE APS\_get\_first\_axisId( I32 Board\_ID, I32 \*StartAxisID, I32 \*TotalAxisNum ); Visual Basic： APS\_get\_first\_axisId (ByVal Board\_ID As Long, StartAxisID As Long, TotalAxisNum As Long) As Long # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. I32 \* StartAxisID： First aixs id of specified board id. I32 \* TotalAxisNum： Total axes on specidied board id # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 StartAxisID; I32 TotalAxisNum; //Board id is 0. Get axis info APS\_get\_first\_axisId ( 0, & StartAxisID, & TotalAxisNum ); # See also： # APS\_save\_parameter\_to\_flash Support Products： PCI-8253/56, PCI-8392 (H) , PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to save system parameters and axes parameters to flash. User must set parameters to board then use this function to save all parameters of board to flash. # Syntax： C/C++： I32 FNTYPE APS\_save\_parameter\_to\_flash( I32 Board\_ID ); Visual Basic： APS\_save\_parameter\_to\_flash( ByVal Board\_ID As Long)As Long # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; ret = APS\_set\_board\_param ( 0 ,0x0,1); //set EMG LOGIC inverse ret = APS\_save\_parameter\_to\_flash ( 0 );//save board and axis parameter to flash if( ret == ERR\_NoError ) // Save parameters success. # See also： APS\_load\_parameter\_from\_flash(); APS\_load\_parameter\_from\_default() # APS\_load\_parameter\_from\_flash Support Products： PCI-8253/56, PCI-8392 (H) , PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： Load system parameters and axes parameters from flash. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_load\_parameter\_from\_flash( I32 Board\_ID ); Visual Basic： APS\_load\_parameter\_from\_flash(ByVal Board\_ID As Long) As Long # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; ret = APS\_load\_parameter\_from\_flash ( 0 ); if( ret == ERR\_NoError ) // Load parameters success. # See also： APS\_save\_parameter\_to\_flash(); APS\_load\_parameter\_from\_default() # APS\_load\_parameter\_from\_default Support Products： PCI-8253/56, PCI-8392(H), EMX-100, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： Load default setting to system parameters & axes parameters. # Syntax： C/C++： I32 FNTYPE APS\_load\_parameter\_from\_default( I32 Board\_ID ); Visual Basic： APS\_load\_parameter\_from\_default( ByVal Board\_ID As Long )As Long # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; ret = APS\_load\_parameter\_from\_default( 0 ); if( ret == ERR\_NoError ) // Load parameters success. # See also： APS\_save\_parameter\_to\_flash(); APS\_load\_parameter\_from\_flash() # APS\_set\_security\_key Support Products： PCI-8144, PCI-8154/58, AMP-104C, AMP-304C # Descriptions： This function is used to set a security code (16 bits) to EEPROM on controller. Therefore, the security code will never be clear when power is turned off. Do not use this function frequently. EEPROM ganrentee access 1,000,000 times # Syntax： C/C++： I32 FNTYPE APS\_set\_security\_key( I32 Board\_ID, I32 OldPassword, I32 NewPassword ); Visual Basic： APS\_set\_security\_key(ByVal Board\_ID As Long, ByVal OldPassword As Long, ByVal NewPassword As Long )As Long # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. I32 OldPassword： Current (Old) password stored in EEPROM. (16 bits) I32 NewPassword： New password to replace old password. (16 bits) # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Ret; I32 OldPassword = 0x1234; I32 NewPassword = 0x5678; Ret = APS\_set\_security\_key(0, OldPassword, NewPassword ); // Check Ret… # See also： APS\_check\_security\_key(); APS\_reset\_security\_key() # APS\_check\_security\_key Support Products： PCI-8144, PCI-8154/58, AMP-104C, AMP-304C # Descriptions： This function is used to verify the security code which users stored in EEPROM by “APS\_set\_security\_key()”. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_check\_security\_key( I32 Board\_ID, I32 Password ); Visual Basic： APS\_check\_security\_key( ByVal Board\_ID As Long, ByVal Password As Long ) As Long # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. I32 Password： 16 bits password. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Ret; I32 OldPassword = 0x1234; I32 NewPassword = 0x5678; Ret = APS\_set\_security\_key(0, OldPassword, NewPassword ); // Check Ret… Ret = APS\_check\_security\_key(0, NewPassword ); If( Ret == ERR\_NoError ) ```txt { // Password checking pass. } else { // Password checking failed } ``` # See also： APS\_set\_security\_key(); APS\_reset\_security\_key() # APS\_reset\_security\_key Support Products： PCI-8144, PCI-8154/58, AMP-104C, AMP-304C # Descriptions： This function is used to reset the security code which stored in EEPROM to default value. The default security code is 0x0000. # Syntax： C/C++： I32 FNTYPE APS\_reset\_security\_key( I32 Board\_ID ); Visual Basic： APS\_reset\_security\_key( ByVal Board\_ID As Long) As Long # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Ret; Ret = APS\_reset\_security\_key( 0 ); If( Ret == ERR\_NoError ) // Security key reset success. # See also： APS\_set\_security\_key(); APS\_check\_security\_key() # APS\_save\_param\_to\_file Support Products： PCI(e)-7856, MNET-4XMO-(C), MNET-1XMO # Descriptions： This function is used to save axis parameters and board parameters to XML file. When user specifies an existing XML file, those parameters overwrite the specified file. When user inputs a NULL file, the system automatically creates a new XML file and save those parameters to it. For fieldbus motion series, all axes parameters of different slaves on this fieldbus are saved to xml file. If the quality of communication is unstable, it returns ERR\_TimeOut. Note： Another dynamic dll named “ApsXmlParser.dll” is called when using this function. The dll will be installed into system document after installing SDK. Note： If user inputs a NULL file, the default name of created XML file is “MotionNetParam.xml” for MotionNet series. # Syntax： C/C++： I32 FNTYPE APS\_save\_param\_to\_file( I32 Board\_ID, const char \*pXMLFile ); Visual Basic： APS\_save\_param\_to\_file( ByVal Board\_ID As Long , pXMLFile As String ) As Long # Parameters： const char \*pXMLFile： Specified an existing XML file which created by MCPro2.exe. Otherwise, input a null file to create automatically a new XML file. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Ret; I32 BoardID\_InBits; I32 Mode = 0; //By system assigned I32 BoardID = 0; APS\_initial( &BoardID\_InBits, Mode); //Input an existing file, then overwrite it. Ret = APS\_save\_param\_to\_file( BoardID ,“C：＼＼WINDOWS＼＼system32＼＼ApsParameters.xml”); //Otherwise, Input a NULL file to create a new XML file. Ret = APS\_save\_param\_to\_file( BoardID, NULL ); If( Ret != ERR\_NoError ) { //Error – save parameters to file.} See also： APS\_get\_axis\_param(); APS\_get\_board\_param() # APS\_load\_param\_from\_file Support Products： All products. # Descriptions： This function is used to load all parameters which are recoded in the input file (XML file). You can use Motion Creator Pro2 utility to create or modify a XML files. This function will process the XML file with following functions. APS\_set\_axis\_param() APS\_set\_board\_param() APS\_set\_axis\_param\_f() (PCIe-8154/8158 and PCI-8254/58 / AMP-204/8C) When it process an unrecognized parameter or a wrong parameter, the load process will be stopped immediately and return an error. So that the other parameters which after the unrecognized parameter will not be set into the devices. Therefore you must check the file validly before you load into your system. # Syntax： C/C++： I32 FNTYPE APS\_load\_param\_from\_file( const char \*pXMLFile ); Visual Basic： APS\_load\_param\_from\_file( pXMLFile As String ) As Long # Parameters： const char \*pXMLFile： Specified a XML file which created by MCPro2.exe. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Ret; I32 BoardID\_InBits; I32 Mode = 0; //By system assigned APS\_initial( &BoardID\_InBits, Mode); Ret = APS\_load\_param\_from\_file( “C：＼＼WINDOWS＼＼system32＼＼ApsParameters.xml” ); If( Ret != ERR\_NoError ) { //Error load parameters from file.} See also： APS\_set\_axis\_param(); APS\_set\_board\_param() # APS\_register\_emx Support Products ： EMX-100 # Descriptions： This function is used for user to register EMX series product in APS library before starting the initialization process using APS\_initial(). # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_register\_emx(I32 emx\_online, I32 option); Visual Basic： APS\_register\_emx (emx\_online As Long, option As Long) As Long # Parameters： I32 emx\_online： 0： Don’t use EMX product; 1： Use EMX product I32 option： reserved # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ret = APS\_register\_emx( 1, 0); // Register EMX series products in APS library ret = APS\_initial( &BoardID\_InBits, Mode); …// Do something ret = APS\_close(); //Close all cards in the system # See also： APS\_initial() # APS\_get\_deviceIP Support Products： EMX-100 # Descriptions： This function is used to get device ip. After executing APS\_initial(), user could get each board’s ip by passing specified board id. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_deviceIP(I32 Board\_ID, char\*\* ipAddress); Visual Basic： APS\_get\_deviceIP (ByVal Board\_ID As Integer, ByRef options As String) As Integer # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. Char\*\* ipAddress： To get EMX ip # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Ret; char\*\* ip = (char\*\*)malloc(sizeof(char\*)); ret = APS\_get\_deviceIP(Board\_ID, ip); See also： # APS\_reset\_emx\_alarm Support Products： EMX-100 # Descriptions： When servo drives occured alarm, and alarm severity is not critical you can reset the alarm signal by this function.. # Syntax： C/C++： I32 FNTYPE APS\_reset\_emx\_alarm(I32 Axis\_ID); Visual Basic： APS\_reset\_emx\_alarm (ByVal Axis\_ID As Integer) As Integer # Parameters： I32 Axis\_ID： Number of axis. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Axis\_ID = 0; ret = APS\_reset\_emx\_alarm( Axis\_ID); if( ret != ERR\_NoError ) { printf(“Reset alarm successful.＼n”); } See also： # APS\_get\_curr\_sys\_ctrl\_mode Support Products： PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to get current control mode in FPGA. There are three kinds of control mode. One is pulse mode, another is analog mode and the other is step mode. User could get control mode of specified axis. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_curr\_sys\_ctrl\_mode(I32 Axis\_ID, I32 \* Mode); Visual Basic： APS\_get\_curr\_sys\_ctrl\_mode(ByVal Axis\_ID As Long, Mode As Long) As Long # Parameters： I32 Axis\_ID：The Axis ID from 0 to 65535. I32 \* Mode： Control mode： 0： pulse mode 1： analog mode 2： step mode # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt I32 Mode = 0; ``` //Get control mode of each axix APS\_get\_curr\_sys\_ctrl\_mode( Axis\_ID, &Mode ); # See also： # APS\_get\_msg\_size Support Products： PCIe-8364RS # Descriptions： This function is used to get the size of message queues. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_msg\_size(U32 Board\_ID, I32 ArraySize, I32\* MsgQueueSizeArr); Visual Basic： APS\_get\_msg\_size (ByVal Board\_ID As , ByVal ArraySize As Long, ByRef MsgQueueStsArr As Long) As Integer # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. I32 ArraySize： Size of MsgQueueSizeArr. For 8364RS, ArraySize is 6. I32 \* MsgQueueSizeArr： return the array of each message queue size. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```matlab 132 ret = 0; 132 boardID = 0; 132 ArraySize = 6; 132 MsgQueueStsArr[6]; ret = APS_get_msg_size(boardID, ArraySize, &MsgQueueStsArr[0]); for (size_t i = 0; i < ArraySize; i++) printf("Message_queue[%zu] size = %d \ n", i, MsgQueueStsArr[i]); ``` # See also： APS\_get\_msg\_data # APS\_get\_msg\_data Support Products： PCIe-8364RS # Descriptions： This function is used to get string data of message queues. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_msg\_data(I32 Board\_ID, I32 MsgNo, I32 MsgNum, I32 MsgSize, I32\* ActualMsgNum, char\* MsgQueueArr); Visual Basic： APS\_get\_msg\_data (ByVal Board\_ID As Integer, ByVal MsgNo As Integer, ByVal MsgNum As Integer, ByVal MsgSize As Integer, ByRef ActualMsgNum As Integer, <Out> ByVal MsgQueueArr As Char(,)) As Integer # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. I32 MsgNo： Specify the no. of message queue. For 8364RS, it is 0 to 5. I32 MsgNum： Specify the max number of messages. For 8364RS, it is 1 to 50. I32 MsgSize： Specify the max number of characters in one message. For 8364RS, it is 256. I32\* ActualMsgNum： Actual number of messages geted. char\* MsgQueueArr： The content of Message queue. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```c #define MSG_NUM (50) #define MSG_SIZE (256) 132 ret = 0; 132 boardID = 0; 132 ArraySize = 6; 132 MsgQueueStsArr[6]; char Msg(MSG_NUM)[MSG_SIZE]; 132 ActualMsgNum = 0; 132 isClear = 0; do { ``` ```c Sleep(100); ret = APS_get_msg_size(boardID, ArraySize, &MsgQueueStsArr[0]); isClear = 1; for (size_t useStateArrayIndex = 0; useStateArrayIndex < 6; useStateArrayIndex++) { if (MsgQueueStsArr CensusArrayIndex] != 0) { isClear = 0; break; } } if (isClear == 1) break; for (size_t queueNoIndex = 0; queueNoIndex < 6; queueNoIndex++) { ret = APS_get_msg_data(boardID, queueNoIndex, MSG_NUM, MSG_SIZE, &ActualMsgNum, &Msg[0][0]); if (ActualMsgNum != 0) { for (size_t i = 0; i < ActualMsgNum; i++) { printf("%s \ n", &Msg[i][0]); } } } while (true); ``` See also： APS\_get\_msg\_size # APS\_load\_config\_from\_file Support Products： PCIe-833x Descriptions： This function is used to load configure file to card. Each card would have different function with option argument. Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_load\_config\_from\_file(I32 Board\_ID, const char \* FilePath, I32 Option); Visual Basic： APS\_load\_config\_from\_file (ByVal Board\_ID As Integer, ByRef FilePath As String, ByVal Option As Integer) As Integer # Parameters： For PCIe-833x： I32 Board\_ID： The Board’s ID from 0 to 31. const char\* pFilePath： Specify the path of the configuration file. I32 Option：Loading configure file option 0：Load IO mapping configure file created by MCP2.exe. Detail information about creating IO mapping configure, please refer to PCIe-833x IO mapping.Usage flow chart diagram like below: ![Based on the provided image, here is the accurate and concise description of the flowchart:\n\n**Labeled Blocks:**\n* APS initial\n* Scan fieldbus\n* Start fieldbus\n* Default map\n* * Online apply by MCP2 IO-mapping page and save config file\n* * Using APS_load_config_from_file\n* DIO, AIO control\n\n**Connections:**\n1. **Start** (red circle) flows to **APS initial**.\n2. **APS initial** flows to **Scan fieldbus**.\n3. **Scan fieldbus** flows to **Start fieldbus**.\n4. **Start fieldbus** flows to the decision diamond **Default map**.\n5. From **Default map**:\n * Path **N** leads to the block containing '* Online apply by MCP2 IO-mapping page and save config file' and '* Using APS_load_config_from_file'.\n * Path **Y** leads to **DIO, AIO control**.\n6. The block containing the online apply/config lines flows into **DIO, AIO control**.\n7. **DIO, AIO control** flows to the **End** (red circle).](.aps-functionlibrary-v2-1/bee880637324d7dd81768ba646229921b350f9b941f48bc62188ffc742f8ff56.jpg) 1： Reserved # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： For PCIe-833x： I32 Board\_ID = 0, ret = 0, Option = 0; const char\* filename = “C://Users//user//Desktop//iomapping\_dio.csv” ret = APS\_load\_config\_from\_file ( Board\_ID, filename, Option); See also： # 4. SSCNET function # APS\_start\_sscnet Support Products： PCI-8392(H) # Descriptions： This function is used to start SSCNET networking. Once it is started, the SSCNET will start to search the servo drivers connected to the network. It returns axis connecting status inside the bit of the 32-bit value. This function will hold until SSCNET communication established when users issue the function. Some SSCNET parameter should be set before start the network such as SSCNET cycle time and so on. Please refer to the SSCNET parameter table for the detail description. # Syntax： C/C++： I32 FNTYPE APS\_start\_sscnet( I32 Board\_ID, I32 \*AxisFound\_InBits ); Visual Basic： APS\_start\_sscnet (ByVal Board\_ID As Long, AxisFound\_InBits As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 \*AxisFound\_InBits： The returned connected axis in bit. Eg. AxisFound\_InBits = 0x111 means Axis switch index： 0, 4 and 8 are connected on line. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “APS168.h” I32 AxisFound\_InBits; I32 ret; // Set SSCNET relative parameter befor start sscnet. // Start sscnet. ```c Ret = APS_start_sscnet(0, &AxisFound_InBits); if(ret == ERR_NoError) { // Servo control... } // Stop sscnet. Ret = APS_stop_sscnet(0); ``` See also： APS\_stop\_sscnet ();APS\_set\_board\_param(); APS\_get\_board\_param() # APS\_stop\_sscnet Support Products： PCI-8392(H) # Descriptions： This function is used to stop SSCNET networking. Once it is stopped, the SSCNET will stop communicating the servo drivers and all servo drivers will be free running after that. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_stop\_sscnet( I32 Board\_ID ); Visual Basic： APS\_stop\_sscnet (ByVal Board\_ID As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```c #include "APS168.h" I32 AxisFound_InBits; I32 ret; // Set SSCNET relative parameter before start sscnet. // Start sscnet. Ret = APS_start_sscnet(0, &AxisFound_InBits); if( ret == ERR_NoError ) { // Servo control... } // Stop sscnet. Ret = APS_stop_sscnet(0); ``` See also： APS\_start\_sscnet() # APS\_get\_sscnet\_servo\_param Support Products： PCI-8392(H) # Descriptions： This function is used to get servo parameters from servo driver. User can read two servo parameters at once. It also can read only one parameter using Para\_No1. If users set Para\_No2 = 0, Para\_dat2 can be set to null. This function is valid only after SSCNET network is started. Never try to change parameters which is manufacturer setting. The definition of servo parameter, please refer to Mitsubishi J3B manual. # Syntax： C/C++： I32 FNTYPE APS\_get\_sscnet\_servo\_param( I32 Axis\_ID, I32 Para\_No1, I32 \*Para\_Dat1, I32 Para\_No2, I32 \*Para\_Dat2 ); Visual Basic： APS\_get\_sscnet\_servo\_param(ByVal Axis\_ID As Long, ByVal Para\_No1 As Long, Para\_Dat1 As Long, ByVal Para\_No2 As Long, Para\_Dat2 As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Para\_No1： Servo parameter Number. The parameter meaning, please refer to the manual of servo driver. Format ： 0 x 0 N XX N ： PA ： 0, PB ： 1, PC ： 2, PD ： 3 XX： parameter number. Eg. 0x0107： PB07, 0x000A： PA10, 0x020F I32 \*Para\_Dat1： I32 Para\_No2： Servo parameter Number. The parameter meaning, please refer to the manual of servo driver. Format ： 0 x 0 N XX N ： PA ： 0, PB ： 1, PC ： 2, PD ： 3 XX： parameter number. Eg. 0x0107： PB07, 0x000A： PA10, 0x020F I32 \*Para\_Dat2： Pointer of I32 variable. When Para\_No2 is set to 0, The Para\_Dat2 could be set to null (0). # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```c #include "APS168.h" I32 AxisFound_InBits; I32 ret; I32 Para_Dat1, Para_Dat2; // Set SSCNET relative parameter before start sscnet. // Start sscnet. Ret = APS_start_sscnet(0, &AxisFound_InBits); if(ret == ERR_NoError) { // This function is used only when network is established. Ret = APS_get_sscnet_servo_param(0, 0x0107, &Para_Dat1, 0x0108, &Para_Dat2); } ``` See also： ```python APS_set_sscnet_servo_param() ``` # APS\_set\_sscnet\_servo\_param Support Products： PCI-8392(H) # Descriptions： This function is used to set servo parameters to servo driver. User can write two servo parameters at once. It also can write only one parameter using Para\_No1. If users set Para\_No2 = 0, Para\_dat2 is meaningless. This function is valid only after SSCNET network is started. Some servo parameters change is not allowed after network is started. User should restart the network to make it active. The definition of servo parameter, please refer to Mitsubishi J3B manual. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_sscnet\_servo\_param( I32 Axis\_ID, I32 Para\_No1, I32 Para\_Dat1, I32 Para\_No2, I32 Para\_Dat2 ); Visual Basic： APS\_set\_sscnet\_servo\_param(ByVal Axis\_ID As Long, ByVal Para\_No1 As Long, ByVal Para\_Dat1 As Long, ByVal Para\_No2 As Long, ByVal Para\_Dat2 As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Para\_No1： Servo parameter Number. The parameter meaning, please refer to the manual of servo driver. Format ： 0 x 0 N XX N ： PA ： 0, PB ： 1, PC ： 2, PD ： 3 XX： parameter number. Eg. 0x0107： PB07, 0x000A： PA10, 0x020F I32 Para\_Dat1： I32 Para\_No2： Servo parameter Number. The parameter meaning, please refer to the manual of servo driver. Format ： 0 x 0 N XX N ： PA ： 0, PB ： 1, PC ： 2, PD ： 3 XX： parameter number. Eg. 0x0107： PB07, 0x000A： PA10, 0x020F I32 Para\_Dat2： Servo parameter data. When Para\_No2 is set to 0, The Para\_Dat2 could be set to null (0). # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```c #include "APS168.h" I32 AxisFound_InBits; I32 ret; // Set SSCNET relative parameter before start sscnet. // Start sscnet. Ret = APS_start_sscnet(0, &AxisFound_InBits); if(ret == ERR_NoError) { // This function is used only when network is established. Ret = APS_set_sscnet_servo_param(0, 0x0009, 13, 0, 0); // Check ret for function return success... } ``` See also： ```txt APS_get_sscnet_servo_param() ``` # APS\_get\_sscnet\_servo\_alarm Support Products： PCI-8392(H) # Descriptions： This function is used to get alarm number when servo alarm occurs. The alarm information includes alarm number and alarm detail. Please refer to servo driver manual for the detail description. When servo alarm occurred, user should use this function before reset alarm otherwise the alarm information will be reset. # Syntax： C/C++： I32 FNTYPE APS\_get\_sscnet\_servo\_alarm( I32 Axis\_ID, I32 \*Alarm\_No, I32 \*Alarm\_Detail ); Visual Basic： APS\_get\_sscnet\_servo\_alarm(ByVal Axis\_ID As Long, Alarm\_No As Long, Alarm\_Detail As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \*Alarm\_No： Alarm number. Please refer to servo driver manual. I32 \*Alarm\_Detail： Alarm detail. Please refer to servo driver manual. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Alarm\_No; I32 Alarm\_Detail; …//Alarm occurred! APS\_get\_sscnet\_servo\_alarm(Axis\_ID, &Alarm\_No, &Alarm\_Detail ); //Get alarm operation171i …//Remove the alarm cause APS\_reset\_sscnet\_servo\_alarm(Axis\_ID ); //Reset servo alarm See also： APS\_reset\_sscnet\_servo\_alarm() # APS\_reset\_sscnet\_servo\_alarm Support Products： PCI-8392(H) # Descriptions： When servo alarm occurs, servo motor will stop moving. After the alarm condition passed, this function can help to clear alarm and reset servo. # Syntax： C/C++： I32 FNTYPE APS\_reset\_sscnet\_servo\_alarm( I32 Axis\_ID ); Visual Basic： APS\_reset\_sscnet\_servo\_alarm(ByVal Axis\_ID As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Alarm\_No; I32 Alarm\_Detail; …//Alarm occurred! APS\_get\_sscnet\_servo\_alarm(Axis\_ID, &Alarm\_No, &Alarm\_Detail ); //Get alarm operation173i …//Remove the alarm cause APS\_reset\_sscnet\_servo\_alarm(Axis\_ID ); //Reset servo alarm... # See also： APS\_get\_sscnet\_servo\_alarm() # APS\_save\_sscnet\_servo\_param Support Products： PCI-8392(H) # Descriptions： This function is used to save servo parameters from SDRAM to flash memory on the controller card. When system (Controller) is power on, it copies servo parameters from flash or from default table to SDRAM. The servo parameters will be transferred to servo drivers when SSCNET network is established. Users can choose the other mode from axis parameters which servo drivers remain its settings when network is established. The parameter is remained default if the Axis is null (The axis ID doesn’t be used). Servo parameters of all axes (16 axes) will be saved at once when you issue this function. You cannot save every servo driver’s parameter separately. # Syntax： C/C++： I32 FNTYPE APS\_save\_sscnet\_servo\_param( I32 Board\_ID ); Visual Basic： APS\_save\_sscnet\_servo\_param(ByVal Board\_ID as Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： // Config servo parameter // APS\_set\_sscnet\_servo\_param … APS\_save\_sscnet\_servo\_param( Board\_ID ); //Save servo parameter to flash. # See also： APS\_set\_sscnet\_servo\_param(); APS\_get\_sscnet\_servo\_param() # APS\_get\_sscnet\_servo\_abs\_position Support Products： PCI-8392(H) # Descriptions： This function is used to get absolute position from SSCNET servo driver. This function can be issued only when SSCNET network is started. Normally, in order to establish ABS position system, users must perform a home return operation first then users must issue this function to get absolute position from servo driver. In the meantime, controller will copy the absolute position of servo drive to axis parameters. Finally, users can use APS\_save\_sscnet\_servo\_abs\_position() to save all axes’ ABS information on flash memory for next time use. <table>Axis parameter definePRA_SSC_SERVO_ABS_CYC_CNTPRA_SSC_SERVO_ABS_RES_CNT The details of axis parameter please refer to axis parameter table. # Syntax： C/C++： I32 FNTYPE APS\_get\_sscnet\_servo\_abs\_position( I32 Axis\_ID, I32 \*Cyc\_Cnt, I32 \*Res\_Cnt ); Visual Basic： APS\_get\_sscnet\_servo\_abs\_position( ByVal Axis\_ID As Long, Cyc\_Cnt As Long, Res\_Cnt As Long ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \*Cyc\_Cnt： Cycle counter of servo driver I32 \*Res\_Cnt： Resolution counter of servo driver. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： //1. Initial card and start SSCNET network //2. Perform a home return operation Ret = APS\_get\_sscnet\_servo\_abs\_position( Axis\_ID, Cyc\_Cnt, Res\_Cnt ); // Record the abs. position data for next homing operation. # See also： APS\_save\_sscnet\_servo\_abs\_position();APS\_load\_sscnet\_servo\_abs\_position(); APS\_set\_axis\_param();APS\_get\_axis\_param() # APS\_save\_sscnet\_servo\_abs\_position Support Products： PCI-8392(H) # Descriptions： This function is used to save absolute position from axis parameter to flash memory. Normally, in order to establish absolute position system, users must do home procedure first. Then use ”APS\_get\_sscnet\_servo\_abs\_position” function to get the absolute position from driver. Finally, users must call this function to save all absolute position of axes to flash memory for next time use. Notice that servo parameters of all axes (16 axes) will be saved at once when users issue this function. You cannot save each servo driver separately.
Axis parameter define
PRA_SSC_SERVO_ABS_CYC_CNT
PRA_SSC_SERVO_ABS_RES_CNT
# Syntax： C/C++： I32 FNTYPE APS\_save\_sscnet\_servo\_abs\_position( I32 Board\_ID ); Visual Basic： APS\_save\_sscnet\_servo\_abs\_position( ByVal Board\_ID As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt //1. Initial card and start SSCNET network //2. Perform home return operations. //3. Get abs position for servo drivers. For(Axis_ID = 0; Axis_ID < 16; Axis_ID++) { Ret = APS_get_sscnet_servo_abs_position( Axis_ID, Cyc_Cnt, Res_Cnt ); } Ret = APS_save_sscnet_servo_abs_position( Board_ID ); //Save all abs. position to flash memory. ... ``` # See also： APS\_get\_sscnet\_servo\_abs\_position();APS\_load\_sscnet\_servo\_abs\_position(); APS\_set\_axis\_param(); APS\_get\_axis\_param() # APS\_load\_sscnet\_servo\_abs\_position Support Products： PCI-8392(H) # Descriptions： This function is used to load servo absolute position from flash memory to axis parameter. If user has never saved servo absolute position, calling this function will return error. User can load all ABS position at once by specified function perameter “Option” for convenient purpose. Refer to parameter description. Normally, if users want to use ABS position system, they will use this function to load ABS information from flash to axis parameters before SSCNET network is established. Also need to set ABS position system enable in axis parameter before SSCNET network is established. # Syntax： C/C++： I32 FNTYPE APS\_load\_sscnet\_servo\_abs\_position( I32 Axis\_ID, I32 Option, I32 \*Cyc\_Cnt, I32 \*Res\_Cnt ); Visual Basic： APS\_load\_sscnet\_servo\_abs\_position( ByVal Axis\_ID As Long, ByVal Option As Long, Cyc\_Cnt As Long, Res\_Cnt As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535 I32 Option： Load option. 0： Load one axis’ ABS position to axis parameter 1： Load all axes’ ABS positions to axes parameters. I32 \*Cyc\_Cnt： Get cycle counter from flash memory. Set this parameter 0 to ignore. I32 \*Res\_Cnt： Get resolution counter from flash memory. Set this parameter 0 to ingnor. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： //1. Initial card //2. load abs. position from flash memory. Ret = APS\_load\_sscnet\_servo\_abs\_position(Axis\_ID, 1, 0 ,0); //Option = 1 load all axes APS\_set\_axis\_param( Axis\_ID, PRA\_SSC\_SERVO\_ABS\_POS\_OPT, 1 ); //Enable abs. position system. APS\_start\_sscnet( Board\_ID, &AxisFound\_InBits ); //Start SSCNET network. // Go to home position by absolute move function. # See also： APS\_get\_sscnet\_servo\_abs\_position();APS\_save\_sscnet\_servo\_abs\_position(); APS\_set\_axis\_param();APS\_get\_axis\_param() # APS\_get\_sscnet\_link\_status Support Products： PCI-8392(H) # Descriptions： This function is used to get SSCNET link staus. You can easily use this function to check SSCNET connection is linked or not. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_sscnet\_link\_status( I32 Board\_ID, I32 \*Link\_Status ); Visual Basic： APS\_get\_sscnet\_link\_status( ByVal Board\_ID As Long, Link\_Status As Long ) As Long # Parameters： I32 Board\_ID： Board ID, zero base parameter. I32 \*Link\_Status： Link status. Return 1 ： SSCNET is linked Return 0 ： SSCNET is not linked. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “APS168.h” #include “ErrorCodeDef.h” I32 link; //Get SSCNET link status. I32 err; // Start SSCNET. //Check SSCNET link status. ```c Do{ err = APS_get_sscnet_link_status(0, &link); if (link == 0) { // Connection is broken. Break; } } while (err == ERR_NoError) ``` See also： # APS\_set\_sscnet\_servo\_monitor\_src Support Products： PCI-8392(H) # Descriptions： This function is used to set the source of each servo monitor channel. In SSCNETIII controller, each axis has 4 channels which can be used to monitor SSCNET servo driver status. You could change monitor source by this function. The monitor sources please refer SSCNET servo monitor source table. In addition, you can get monitor data by “APS get sscnet servo monitor data()”. This function is valid when SSCNET communication is connected. # Syntax： C/C++： I32 FNTYPE APS\_set\_sscnet\_servo\_monitor\_src( I32 Axis\_ID, I32 Mon\_No, I32 Mon\_Src ); Visual Basic： APS\_set\_sscnet\_servo\_monitor\_src( ByVal Axis\_ID As Long, ByVal Mon\_No As Long, ByVal Mon\_Src As Long ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Mon\_No： Monitor channel number. 0\~3 refer to channel 0 \~ channel 3. I32 Mon\_Src： Monitor source number. Please refer to SSCNET servo monitor source table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “APS168.h” #include “ErrorCodeDef.h” // Initial APSLibrary and start SSCNET first. { I32 ret; I32 Axis\_ID = 0; ret = APS\_set\_sscnet\_servo\_monitor\_src( Axis\_ID, 0, 1 ); //Set channel 0, source = 1. ```txt //Check ret. Ret = APS_set_sscnet_servo_monitor_src( Axis_ID, 1, 2 ); //Set channel 1, source = 2. //Check ret. } ``` See also： ```cmake APS_get_sscnet_servo_monitor_src(); APS_get_sscnet_servo_monitor_data() ``` # APS\_get\_sscnet\_servo\_monitor\_src Support Products： PCI-8392(H) # Descriptions： This function is used to get the source of each servo monitor channel. In SSCNETIII controller, each axis has 4 channels which can be used to monitor SSCNET servo driver status. You could get monitor source by this function. The monitor sources please refer SSCNET servo monitor source table. This function is valid when SSCNET communication is connected. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_sscnet\_servo\_monitor\_src( I32 Axis\_ID, I32 Mon\_No, I32 \*Mon\_Src ); Visual Basic： APS\_get\_sscnet\_servo\_monitor\_src( ByVal Axis\_ID As Long, Mon\_No As Long, ByVal Mon\_Src As Long ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Mon\_No： Monitor channel number. 0\~3 refer to channel 0 \~ channel 3. I32 \*Mon\_Src： Return monitor source number. Please refer to SSCNET servo monitor source table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “APS168.h” #include “ErrorCodeDef.h” // Initial APSLibrary and start SSCNET first. ```rust { I32 ret; I32 Axis_ID = 0; I32 Mon_Src; ret = APS_get_sscnet_servo_monitor_src( Axis_ID, 0, &Mon_Src ); //Check ret. ``` ```rust Ret = APS_get_sscnet_servo_monitor_src(Axis_ID, 1, &Mon_Src); //Check ret. ``` See also： ```cmake APS_set_sscnet_servo_monitor_src();APS_get_sscnet_servo_monitor_data() ``` # APS\_get\_sscnet\_servo\_monitor\_data Support Products： PCI-8392(H) # Descriptions： This function is used to get sscnet servo monitor data. This function can be used only when SSCNET is connected. In SSCNETIII controller, each axis has 4 channels which can be used to monitor SSCNET servo driver status. You can use this function to get all (4 channels) monitor data at once. In addition, you could change monitor source by the function “ APS\_set\_sscnet\_servo\_monitor\_src()”. Monitor sources please refer SSCNET servo monitor source table. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_sscnet\_servo\_monitor\_data( I32 Axis\_ID, I32 Arr\_Size, I32 \*Data\_Arr ); ```txt Visual Basic : ``` APS\_get\_sscnet\_servo\_monitor\_data( ByVal Axis\_ID As Long, ByVal Arr\_Size As Long, Data\_Arr As Long ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Arr\_Size： Specifiy data array size. Min：1 \~ Max：4. I32 \*Data\_Arr： Get monitor data array. The array size is according to “Arr\_Size”. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “APS168.h” #include “ErrorCodeDef.h” // Initial APSLibrary and start SSCNET first. { I32 Axis\_ID = 0; //Axis ID I32 Data\_Arr[4]; //Total 4 channels I32 ret; //Return code. // Get SSCNET monitor data. ```rust Ret = APS_get_sscnet_servo_monitor_data(Axis_ID, 4, Data_Arr); if( ret == ERR_NoError ) { //Show Data_Arr[]; } } ``` See also： APS\_set\_sscnet\_servo\_monitor\_src();APS\_get\_sscnet\_servo\_monitor\_src(); # 5. Motion IO and motion status # APS\_motion\_status Support Products： PCI-8253/56, PCI-8392(H) , PCI-8144, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, PCI(e)- 8154/8158, PCI-8102/ PCI-C154(+), EMX-100 , PCI-8254/58 / AMP-204/8C , PCIe-833x, AMP-104C, ECAT-4XMO, ECAT-4XMO-MT, AMP-304C, PCIe-8364RS # Descriptions： This function is used to get one axis’ motion status. The status includes running, normal stop, abnormal stop by reasons, in waiting other axis, follow status, in some modes, in accelerating or decelerating and so on. Status can be more than two such like mode and running. Users need to use this function to check whether the ‘Fire-andforget’ function is done in polling system. In event driven system, users can use interrupt event functions. Please refer to the motion status table for detail description. # Syntax： C/C++： I32 FNTYPE APS\_motion\_status( I32 Axis\_ID ); Visual Basic： APS\_motion\_status (ByVal Axis\_ID As Long) As Long # Parameters： I32 Axis\_ID：The Axis ID from 0 to 65535 # Return Values： Positive value： The value of motion status. Please refer to motion status bit number definition table for the value meaning Negative value： Error Code： Please refer to error code table. # Example： I32 MotionStatus; MotionStatus = APS\_motion\_status( Axis\_ID ); //Get Motion status See also： APS\_motion\_io\_status(); # APS\_motion\_status\_async Support Products： PCIe-833x # Descriptions： This function is used to get one axis’ motion status. The status includes running, normal stop, abnormal stop by reasons, in waiting other axis, follow status, in some modes, in accelerating or decelerating and so on. Status can be more than two such like mode and running. Users need to use this function to check whether the ‘Fire-andforget’ function is done in polling system. In even driven system, users can use interrupt event functions. Please refer to the motion status table for detail description. # Syntax： C/C++： I32 FNTYPE APS\_motion\_status\_async( I32 Axis\_ID ); Visual Basic： APS\_motion\_status\_async( ByVal Axis\_ID As Long ) As Long # Parameters： I32 Axis\_ID：The Axis ID from 0 to 65535 # Return Values： Positive value： The value of motion status. Please refer to motion status bit number definition table for the value meaning Negative value： Error Code： Please refer to error code table. # Example： I32 MotionStatus; I32 ret = 0, boardIDInBit = 0; ret = APS\_initial( &boardIDInBit, 0x800 ) // Bit 11 must be “1”. MotionStatus = APS\_motion\_status\_async( Axis\_ID ); //Get Motion status # See also： APS\_motion\_io\_status\_async APS\_get\_position\_async APS\_get\_command\_async # APS\_motion\_io\_status Support Products： PCI-8253/56, PCI-8392(H) , PCI-8144, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, PCI(e)- 8154/8158, PCI-8102/ PCI-C154(+), EMX-100 , PCI-8254/58 / AMP-204/8C , PCIe-833x, AMP-104C, ECAT-4XMO, ECAT-4XMO-MT, AMP-304C, PCIe-8364RS # Descriptions： This function is used to get one axis’ motion I/O information like ORG, PEL, MEL, SVON, INP and so on. These statuses are connected to external switched or servo drivers. Please refer to the motion IO status table for detail description. # Syntax： C/C++： I32 FNTYPE APS\_motion\_io\_status( I32 Axis\_ID ); Visual Basic： APS\_motion\_io\_status (ByVal Axis\_ID As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535 # Return Values： Positive value： The value of motion IO status, please refer to motion IO status bit number definition table for the value meaning Negative value： Error Code： Please refers to error code table. # Example： I32 MotionIO; MotionIO = APS\_motion\_io\_status(Axis\_ID ); //Get Motion IO status # See also： APS\_motion\_status (); # APS\_motion\_io\_status\_async Support Products： PCIe-833x # Descriptions： This function is used to get one axis’ motion I/O information like ORG, PEL, MEL, SVON, INP and so on. These statuses are connected to external switched or servo drivers. Please refer to the motion IO status table for detail description. # Syntax： C/C++： I32 FNTYPE APS\_motion\_io\_status\_async( I32 Axis\_ID ); Visual Basic： APS\_motion\_io\_status\_async( ByVal Axis\_ID As Long ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535 # Return Values： Positive value： The value of motion IO status, please refer to motion IO status bit number definition table for the value meaning Negative value： Error Code： Please refers to error code table. # Example： I32 MotionIO; I32 ret = 0, boardIDInBit = 0; ret = APS\_initial( &boardIDInBit, 0x800 ) // Bit 11 must be “1”. MotionIO = APS\_motion\_io\_status\_async( Axis\_ID ); //Get Motion IO status # See also： APS\_motion\_status\_async APS\_get\_position\_async APS\_get\_command\_async # APS\_set\_servo\_on Support Products： PCI-8253/56, PCI-8392(H) , MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, PCI(e)-8154/8158, PCI-8102/ PCI-C154(+), EMX-100 , PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, AMP-304C, PCIe-8364RS # Descriptions： This function is used to command servo driver of specified axis to starts controlling its servomotor. Then motion function could be applied on this axis. # Syntax： C/C++： I32 FNTYPE APS\_set\_servo\_on( I32 Axis\_ID, I32 Servo\_on ); Visual Basic： APS\_set\_servo\_on (ByVal Axis\_ID As Long, ByVal ServoOn As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535 I32 Servo\_on： 0： Servo OFF, 1： Servo ON # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： …//Initialization APS\_set\_servo\_on( Axis\_ID, 1 ); // Set servo ON … //Motion action APS\_set\_servo\_on(Axis\_ID, 0); //Set servo OFF …//Release # See also： # APS\_get\_position Support Products： PCI-8253/56, PCI-8392(H) , MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, PCI(e)-8154/8158, PCI-8102/ PCI-C154(+), EMX-100 , PCI-8254/58 / AMP-204/8C, AMP-304C # Descriptions： This function is used to get the position counter of one axis. The counter is in unit of pulse. # Syntax： C/C++： I32 FNTYPE APS\_get\_position( I32 Axis\_ID, I32 \*Position ); Visual Basic： APS\_get\_position (ByVal Axis\_ID As Long, Position As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \*Position： Feedback position. Unit in pulse # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Position; APS\_get\_position(Axis\_ID, &Position ); //Get feedback position # See also： APS\_get\_command(); APS\_set\_position(); APS\_set\_command() # APS\_set\_position Support Products： PCI-8253/56, PCI-8392(H) , MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, PCI(e)-8154/8158, PCI-8102/ PCI-C154(+), EMX-100 , PCI-8254/58 / AMP-204/8C, AMP-304C # Descriptions： This function is used to set the position counter of one axis. The counter is in unit of pulse. It assigns a new position at instance but the motor will not move due to this function. # Syntax： C/C++： I32 FNTYPE APS\_set\_position(I32 Axis\_ID, I32 Position); Visual Basic： APS\_set\_position (ByVal Axis\_ID As Long, ByVal Position As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Position： Set feedback position. Unit in pulse. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： APS\_set\_position(Axis\_ID, 0 ); // Set feedback position to zero # See also： APS\_get\_position(); APS\_get\_command(); APS\_set\_command() # APS\_get\_command Support Products： PCI-8253/56, PCI-8392(H) , PCI-8144, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, PCI(e)- 8154/8158, PCI-8102/ PCI-C154(+), EMX-100 , PCI-8254/58 / AMP-204/8C, AMP-104C, AMP-304C # Descriptions： This function is used to get the command counter of one axis. The counter is in unit of pulse. # Syntax： C/C++： I32 FNTYPE APS\_get\_command( I32 Axis\_ID, I32 \*Command ); Visual Basic： APS\_get\_command (ByVal Axis\_ID As Long, Command As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \*Command： Command position. Unit in pulse. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Command ; APS\_get\_command(Axis\_ID, &Command ); //Get command position. …// # See also： APS\_get\_position(); APS\_set\_position(); APS\_set\_command() # APS\_set\_command Support Products： PCI-8253/56, PCI-8392(H) , PCI-8144, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, PCI(e)- 8154/8158, PCI-8102/ PCI-C154(+), EMX-100 , PCI-8254/58 / AMP-204/8C, AMP-104C, AMP-304C # Descriptions： This function is used to set the command counter of one axis. The counter is in unit of pulse. It assigns a new command counter at instance but the motor will not move due to this function. # Syntax： C/C++： I32 FNTYPE APS\_set\_command(I32 Axis\_ID, I32 Command); Visual Basic： APS\_set\_command (ByVal Axis\_ID As Long, ByVal Command As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Command： Position command. Unit in pulse. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： …// APS\_set\_command(Axis\_ID, 0); //Set command position to zero. # See also： APS\_get\_position(); APS\_get\_command(); APS\_set\_position(); # APS\_get\_command\_velocity Support Products： PCI-8253/56, PCI-8392(H) , PCI-8144, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, PCI(e)- 8154/8158, PCI-8102/ PCI-C154(+), EMX-100 , PCI-8254/58 / AMP-204/8C, AMP-104C, AMP-304C # Descriptions： This function is used to get command velocity. The minimum value depends on speed calculation resolution of system. # Syntax： C/C++： I32 FNTYPE APS\_get\_command\_velocity(I32 Axis\_ID, I32 \*Velocity ); Visual Basic： APS\_get\_command\_velocity(ByVal Axis\_ID As Long, Velocity As Long ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \*Velocity： Return command velocity. Unit： pps # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Axis\_ID = 0; I32 Velocity; ret = APS\_get\_command\_velocity ( Axis\_ID, &Velocity); ```txt if( ret == ERR_NoError ) { //Velocity } ``` # See also： APS\_get\_position(); APS\_get\_command();APS\_get\_feedback\_velocity() # APS\_get\_feedback\_velocity Support Products： PCI-8253/56, PCI-8392(H) , EMX-100 , PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to get feedback velocity. The minimum value depends on speed calculation resolution of system. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_feedback\_velocity(I32 Axis\_ID, I32 \*Velocity); Visual Basic： APS\_get\_feedback\_velocity(ByVal Axis\_ID As Long, Velocity As Long ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \*Velocity： Return feedback velocity. Unit： pps # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Axis\_ID = 0; I32 Velocity; ret = APS\_get\_feedback\_velocity( Axis\_ID, &Velocity); if( ret == ERR\_NoError ) { //Velocity } # See also： APS\_get\_position(); APS\_get\_command(); APS\_get\_command\_velocity (); # APS\_get\_error\_position Support Products： PCI-8253/56, PCI-8392(H) , MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, PCI(e)-8154/8158, PCI-8102/ PCI-C154(+), EMX-100 , PCI-8254/58 / AMP-204/8C, AMP-304C # Descriptions： This function is used to get error position value. This value is defined as command minus feedback position # Syntax： C/C++： I32 FNTYPE APS\_get\_error\_position( I32 Axis\_ID, I32 \*Err\_Pos ); Visual Basic： APS\_get\_error\_position( ByVal Axis\_ID As Long, Err\_Pos As Long ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \*Err\_Pos： Return error position. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Axis\_ID = 0; I32 Err\_Pos; ret = APS\_get\_error\_position(Axis\_ID, &Err\_Pos ); if( ret == ERR\_NoError ) //Show error position. # See also： APS\_get\_position();APS\_get\_command();APS\_get\_command\_velocity ();APS\_get\_feedback\_velocity() # APS\_get\_target\_position Support Products： PCI-8253/56, PCI-8392(H) , MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, PCI(e)-8154/8158, PCI-8102/ PCI-C154(+), EMX-100 , PCI-8254/58 / AMP-204/8C, AMP-304C # Descriptions： This function is used to get target position record. In linear positioning mode, the value is target position. In circular positioning mode, the value is the same as command. In velocity and jog mode, the value is the same as command. For EMX-100： This function is used to get single axis target position of point-to-point move and linear move. And target position will not be updated when using Jog move, Velocity move, and Home move. # Syntax： C/C++： I32 FNTYPE APS\_get\_target\_position( I32 Axis\_ID, I32 \*Targ\_Pos ); Visual Basic： APS\_get\_target\_position(ByVal Axis\_ID As Long, Targ\_Pos As Long ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \*Targ\_Pos： Return target position. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Axis\_ID = 0; I32 Targ\_Pos; ret = APS\_get\_target\_position(Axis\_ID, &Targ\_Pos ); if( ret == ERR\_NoError ) //Show target position. # See also： APS\_get\_position();APS\_get\_command();APS\_get\_command\_velocity ();APS\_get\_feedback\_velocity() # APS\_get\_position\_f Support Products： MNET-4XMO-(C), MNET-1XMO, PCI(e)-8154/8158, PCI-8102/58A , PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to get the position counter of one axis by double. The counter is in unit of pulse. # Syntax： C/C++： I32 FNTYPE APS\_get\_position\_f( I32 Axis\_ID, F64 \*Position ); Visual Basic： APS\_get\_position\_f(ByVal Axis\_ID As Long, Position As Double) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. F64 \*Position： Feedback position. Unit in pulse # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： F64 Position; APS\_get\_position\_f(Axis\_ID, &Position ); //Get feedback position # See also： APS\_get\_command\_f(); APS\_set\_position\_f(); APS\_set\_command\_f() # APS\_get\_position\_f\_async Support Products： PCIe-833x # Descriptions： This function is used to get the position counter of one axis by double. The counter is in unit of pulse. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_position\_f\_async( I32 Axis\_ID, F64 \*Position ); Visual Basic： APS\_get\_position\_f\_async( ByVal Axis\_ID As Long, Position As Double ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. F64 \*Position： Feedback position. Unit in pulse # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt F64 Position; ``` ```javascript 132 ret = 0, boardIDInBit = 0; ``` ret = APS\_initial( &boardIDInBit, 0x800 ) // Bit 11 must be “1”. APS\_get\_position\_f\_async( Axis\_ID, &Position ); //Get feedback position # See also： APS\_get\_command\_f\_async APS\_motion\_status\_async APS\_motion\_io\_status\_async # APS\_set\_position\_f Support Products： MNET-4XMO-(C), MNET-1XMO, PCI(e)-8154/8158, PCI-8102/58A , PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to set the position counter of one axis by double. The counter is in unit of pulse. It assigns a new position at instance but the motor will not move due to this function. # Syntax： C/C++： I32 FNTYPE APS\_set\_position\_f(I32 Axis\_ID, F64 Position); Visual Basic： APS\_set\_position\_f(ByVal Axis\_ID As Long, ByVal Position As Double) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. F64 Position： Set feedback position. Unit in pulse. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： APS\_set\_position\_f(Axis\_ID, 0.0 ); // Set feedback position to zero # See also： APS\_get\_position\_f(); APS\_get\_command\_f(); APS\_set\_command\_f() # APS\_get\_command\_f Support Products： MNET-4XMO-(C), MNET-1XMO, PCI(e)-8154/8158, PCI-8102/58A , PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to get the command counter of one axis by double. The counter is in unit of pulse. # Syntax： C/C++： I32 FNTYPE APS\_get\_command\_f( I32 Axis\_ID, F64 \*Command ); Visual Basic： APS\_get\_command\_f(ByVal Axis\_ID As Long, Command As Double) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. F64 \*Command： Command position. Unit in pulse. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： F64 Command ; APS\_get\_command\_f(Axis\_ID, &Command ); //Get command position by double …// # See also： APS\_get\_position\_f(); APS\_set\_position\_f(); APS\_set\_command\_f() # APS\_get\_command\_f\_async Support Products： PCIe-833x # Descriptions： This function is used to get the command counter of one axis by double. The counter is in unit of pulse. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_command\_f\_async( I32 Axis\_ID, F64 \*Command ); Visual Basic： APS\_get\_command\_f\_async( ByVal Axis\_ID As Long, Command As Double ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. F64 \*Command： Command position. Unit in pulse. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： F64 Command ; I32 ret = 0, boardIDInBit = 0; ret = APS\_initial( &boardIDInBit, 0x800 ) // Bit 11 must be “1”. APS\_get\_command\_f\_async( Axis\_ID, &Command ); //Get command position by double # See also： APS\_get\_position\_f\_async APS\_motion\_status\_async APS\_motion\_io\_status\_async # APS\_set\_command\_f Support Products： MNET-4XMO-(C), MNET-1XMO, PCI(e)-8154/8158, PCI-8102/58A, PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to set the command counter of one axis by double. The counter is in unit of pulse. It assigns a new command counter at instance but the motor will not move due to this function. # Syntax： C/C++： I32 FNTYPE APS\_set\_command\_f(I32 Axis\_ID, F64 Command); Visual Basic： APS\_set\_command\_f(ByVal Axis\_ID As Long, ByVal Command Double) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. F64 Command： Position command. Unit in pulse. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： …// APS\_set\_command\_f(Axis\_ID, 0.0); //Set command position to zero. # See also： APS\_get\_position\_f(); APS\_get\_command\_f(); APS\_set\_position\_f(); # APS\_get\_target\_position\_f Support Products： MNET-4XMO-(C), MNET-1XMO, PCI(e)-8154/8158, PCI-8102/58A, PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to get target position record by double. In linear positioning mode, the value is target position. In circular positioning mode, the value is the same as command. In velocity and jog mode, the value is the same as command. # Syntax： C/C++： I32 FNTYPE APS\_get\_target\_position\_f( I32 Axis\_ID, F64 \*Targ\_Pos ); Visual Basic： APS\_get\_target\_position\_f(ByVal Axis\_ID As Long, Targ\_Pos As Double ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. F64 \*Targ\_Pos： Return target position. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Axis\_ID = 0; F64 Targ\_Pos; ret = APS\_get\_target\_position\_f(Axis\_ID, &Targ\_Pos ); if( ret == ERR\_NoError ) //Show target position. # See also： APS\_get\_position\_f();APS\_get\_command\_f();APS\_get\_command\_velocity\_f ();APS\_get\_feedback\_velocityf() # APS\_get\_error\_position\_f Support Products： MNET-4XMO-(C), MNET-1XMO, PCI(e)-8154/8158, PCI-8102/58A, PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to get error position record by double. This value is defined as command minus feedback position. # Syntax： C/C++： I32 FNTYPE APS\_get\_error\_position\_f( I32 Axis\_ID, F64 \*Err\_Pos ); Visual Basic： APS\_get\_error\_position\_f(ByVal Axis\_ID As Long, Err\_Pos As Double ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. F64 \*Err\_Pos： Return error position. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Axis\_ID = 0; F64 Err\_Pos; ret = APS\_get\_error\_position\_f(Axis\_ID, &Err\_Pos ); if( ret == ERR\_NoError ) //Show error position. # See also： APS\_get\_position\_f();APS\_get\_command\_f();APS\_get\_command\_velocity\_f();APS\_get\_feedback\_velocityf();APS\_g et\_target\_position\_f # APS\_get\_command\_velocity\_f Support Products： MNET-4XMO-(C), MNET-1XMO, PCI(e)-8154/8158, PCI-8102/58A, PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to get command velocity by double. The minimum value depends on speed calculation resolution of system. # Syntax： C/C++： I32 FNTYPE APS\_get\_command\_velocity\_f(I32 Axis\_ID, F64 \*Velocity ); Visual Basic： APS\_get\_command\_velocity\_f(ByVal Axis\_ID As Long, Velocity As Double ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. F64 \*Velocity： Return command velocity. Unit： pps # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Axis\_ID = 0; F64 Velocity; ret = APS\_get\_command\_velocity\_f ( Axis\_ID, &Velocity); ```txt if( ret == ERR_NoError ) { //Velocity } ``` # See also： APS\_get\_position\_f(); APS\_get\_command\_f();APS\_get\_feedback\_velocityf() # APS\_get\_feedback\_velocity\_f Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to get feedback velocity by double. The minimum value depends on speed calculation resolution of system. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_feedback\_velocity\_f(I32 Axis\_ID, F64 \*Velocity ); Visual Basic： APS\_get\_feedback\_velocity\_f(ByVal Axis\_ID As Long, Velocity As Double ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. F64 \*Velocity： Return feedback velocity. Unit： pps # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; ```txt 132 Axis_ID = 0; ``` F64 Velocity; ```txt ret = APS_get_feedback_velocity_f (Axis_ID, &Velocity); ``` ```txt if( ret == ERR_NoError ) ``` ```txt {} ``` # See also： APS\_get\_position\_f(); APS\_get\_command\_f();APS\_get\_command\_velocityf() # APS\_get\_mq\_free\_space Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to get current free space of motion queue. Each axis has own motion queue (FIFO) to buffer the motion commands. # Syntax： C/C++： I32 FNTYPE APS\_get\_mq\_free\_space( I32 Axis\_ID, I32 \*Sapce ); Visual Basic： APS\_get\_mq\_free\_sapce (ByVal Axis\_ID As Long, Sapce As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \*Sapce： Free space of motion queue of specified axis. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Space; APS\_get\_mq\_free\_space(Axis\_ID, &Space ); //Get free space of motion queue …// # See also： APS\_get\_mq\_usage(); # APS\_get\_mq\_usage Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to get current usage from motion queue. Each axis has own motion queue (FIFO) to buffer the motion commands. # Syntax： C/C++： I32 FNTYPE APS\_get\_mq\_usage( I32 Axis\_ID, I32 \*Usage ); Visual Basic： APS\_get\_mq\_usage(ByVal Axis\_ID As Long, Usage As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \*Usage： The usage of motion queue of specified axis. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Usage; APS\_get\_mq\_free\_space(Axis\_ID, &Usage ); //Get usage of motion queue …// # See also： APS\_get\_mq\_free\_space(); # APS\_get\_stop\_code Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to get stop code. The stop code is a stop reason for an axis when a move is stopping. The possible stop code is shown in following table. If axis performs a PTP move of single axis and stops normally, you will get a stop code belong to STOP\_NORMAL. <table>SymbolCodeDescriptionSTOP_NORMAL0Stop normallySTOP_EMG1Stop when EMG is turn ONSTOP_ALM2Stop when ALM is turn ONSTOP_SVNO3Stop when servo is turn-OFFSTOP_PEL4Stop by PEL signal turn ONSTOP_MEL5Stop by MEL signal turn ONSTOP_SPEL6Stop by soft-limit condition – plus end limitSTOP_SMEL7Stop by soft-limit condition – minus end limitSTOP_USER_EMG8EMG stop by userSTOP_USER9Stop by userSTOP_GAN_L110Stop by E-Gear gantry protect level 1 condition is met.STOP_GAN_L211Stop by E-Gear gantry protect level 2 condition is metSTOP_GEAR_SLAVE12Stop because gear slave axisSTOP_ERROR_LEVEL13Error position check levelSTOP_DI14DISTOP_SCL15Circular limitSTOP_SLAVE_DISCONNECT16Slave DisconnectionSTOP_ERROR_ECAT_HOME17Stop by EtherCAT home error. Note： If motion is multi-axes motion (Interpolation), the stop code is only updated on the reference axis. Other axes keep previous stop code. # Syntax： C/C++： I32 FNTYPE APS\_get\_stop\_code( I32 Axis\_ID, I32 \*Code ); Visual Basic： APS\_get\_stop\_code(ByVal Axis\_ID As Long, Code As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \* Code： Stop code (stop reason). # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Code; I32 Axis\_ID; APS\_get\_stop\_code(Axis\_ID, &Code ); //Get stop code …// # See also： # APS\_get\_encoder Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, AMP-104C, PCIe-8364RS # Descriptions： This function is used to get raw encoder counter of one axis. It is read only and applied to debug or monitor raw counter. For PCIe-833x series products, this value is mapping to ECAT PDO actual position value (OD 0x6064). # Syntax： C/C++： I32 FNTYPE APS\_get\_encoder( I32 Axis\_ID, I32 \*Encoder ); Visual Basic： APS\_get\_encoder(ByVal Axis\_ID As Long, Encoder As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \*Encoder： Raw encoder counter. Unit in pulse. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Encoder; APS\_get\_encoder(Axis\_ID, &Encoder ); //Get raw encoder counter. …// See also： # APS\_get\_command\_counter Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to get raw command counter of one axis. It is read only and applied to debug or monitor raw counter. For PCIe-833x series products, this value is mapping to ECAT PDO target position (OD 0x607A). # Syntax： C/C++： I32 FNTYPE APS\_get\_command\_counter( I32 Axis\_ID, I32 \*Counter); Visual Basic： APS\_get\_command\_counter(ByVal Axis\_ID As Long, Counter As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \*Counter： Raw command counter. Unit in pulse. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Counter; APS\_get\_command\_counter(Axis\_ID, & Counter ); //Get raw command counter …// See also： # APS\_reset\_command\_counter Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT # Descriptions： This function is used to reset raw command counter (copy raw encoder counter to raw command counter) of one axis. # Syntax： C/C++： I32 APS\_ reset \_command\_counter( I32 Axis\_ID); Visual Basic： APS\_ reset \_command\_counter(ByVal Axis\_ID As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Counter; APS\_ reset \_command\_counter(Axis\_ID, & Counter ); //Reset raw command counter …// See also： # APS\_get\_last\_error Support Products： PCIe-833x # Descriptions： This function is used to get last moving function error code by each axis when using asynchronous mode. The last moving function must be series of advanced single move & interpolation API. # Syntax： ```txt C/C++ : ``` I32 APS\_get\_last\_error( I32 Axis\_ID, I32 \*ErrorCode ); Visual Basic： APS\_get\_last\_error( ByVal Axis\_ID As Integer, ByRef ErrorCode As Integer ) As Integer # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \*ErrorCode： Function error code value. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```javascript 132 ret = 0, boardIDInBit = 0, errorCode = 0, sts = 0; ``` // Enable asynchronous API mode ```txt ret = APS_initial(&boardIDInBit, 0x800); ``` // Executing asynchronous move API ASYNCALL argu; ```javascript argu.u8_asyncMode = 1; ``` ```c ret = APS_ptp(Axis_ID, 0, 10000.0, &argu); ``` // Refer ASYNCERR bit in motion status for checking asynchronous call function error sts = APS\_get\_motion\_status\_async( AXIS\_ID ); if( sts & ASYNCERR ) { ```txt // Get last executing error ret = APS_get_last_error( AXIS_ID, &errorCode ); } ``` See also： # APS\_get\_axis\_latch\_data Support Products： PCI-8254/58 / AMP-204/8C, # Descriptions： Users can use this function to get latch data from the input signal belongs to an axis, such has ORG and EZ. This function’s behavior for getting latch data is read clear which means when users call this function, the latched data will be retrieved and latch counter will be clear to zero for next latch. When users know there is a data latched, users can call this function to get the most update latch data from motor encoder. # Syntax： C/C++： I32 FNTYPE APS\_get\_axis\_latch\_data(I32 Axis\_ID, I32 latch\_channel, I32 \*latch\_data) Visual Basic： APS\_get\_axis\_latch\_data(ByVal Axis\_ID As Long, ByVal latch\_data As Long, latch\_data As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to maximum axis number in one system. I32 latch\_channel： for channel selection： 0 for ORG and 1 for EZ I32 \*latch\_data： a data pointer to get motor encoder latch data # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： See also： # 6. Single axis motion # APS\_relative\_move Support Products： PCI-8253/56, PCI-8392(H) , PCI-8144, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, PCI(e)- 8154/8158, PCI-8102/ PCI-C154(+), EMX-100, PCI-8254/58 / AMP-204/8C, AMP-104C, AMP-304C # Descriptions： This function is used to start a single axis relative motion. Although there is maximum speed setting in function parameter, the traveling distance and accelerating rate may not be enough due to user’s setting to reach the maximum speed. The speed profile’s acceleration and deceleration rate and curve are set by axis parameter function. This function is ‘fire-and-forget’ type. That means user’s program or procedure will not be pended during axis traveling. Users must use motion status checking function or interrupt event waiting function to wait it done. For PCI-8253/56, PCI-8392(H), PCI-8254/58 / AMP-204/8C , users can start a new move command including stop command to override the previous one during the axis traveling. The axis will be switched to new command immediately according to new setting of target position, new speed. This command can’t be overridden by other motion modes like Jog, home, manual pulse generation, contour motion. Users must stop axis motion before switching to those modes mentioned above. For EMX-100 , this function is used for single axis point-to-point motion using relative position. Two speed profile parameters distance and maximum velocity are given by user, and other parameters like start velocity, acceleration rate, deceleration rate and s-factor are configurable by axis parameter table. The actual command velocity may not reach maximum velocity due to small traveling distance or accelerating rate are given. This function uses ‘fire-and-forget’ mode to avoid blocking user’s program or procedure during axis traveling. Users can read motion status MDN to check the motion is completed (MDN = 1) or not (MDN = 0). Except stop command, users CAN NOT start any new move command before previous motion is completed. # Syntax： $$ C / C + +: $$ I32 FNTYPE APS\_relative\_move( I32 Axis\_ID, I32 Distance, I32 Max\_Speed ); Visual Basic： APS\_relative\_move (ByVal Axis\_ID As Long, ByVal Distance As Long, ByVal Max\_Speed As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Distance： Relative distance. Unit is pulse. I32 Max\_Speed： The maximum speed of this move profile. Unit： pulse/sec. For EMX-100： I32 Max\_Speed： The maximum speed of this move profile, its range is 1 \~ 8,000,000 (Unit： pulse/sec). # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： APS\_set\_axis\_param(Axis\_ID, PRA\_ACC, 1000000 ); //Set acceleration rate APS\_set\_axis\_param(Axis\_ID, PRA\_DEC, 1000000 ); //Set deceleration rate //Execute a relative move. APS\_relative\_move( Axis\_ID, 10000, 10000 ); # See also： APS\_relative\_move();APS\_absolute\_move();APS\_velocity\_move();APS\_home\_move(); APS\_stop\_move(); APS\_emg\_stop() # APS\_absolute\_move Support Products： PCI-8253/56, PCI-8392(H) , MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, PCI(e)-8154/8158, PCI-8102/ PCI-C154(+), EMX-100, PCI-8254/58 / AMP-204/8C, AMP-104C, AMP-304C # Descriptions： This function is used to start a single axis absolute positioning motion. Although there is maximum speed setting in function parameter, the traveling distance and accelerating rate may not be enough due to user’s setting to reach the maximum speed. The speed profile’s acceleration and deceleration rate and curve are set by axis parameter function. This function is ‘fire-and-forget’ type. That means user’s program or procedure will not be pended during axis traveling. Users must use motion status checking function or interrupt event waiting function to wait it done. For PCI-8253/56, PCI-8392(H) , PCI-8254/58 / AMP-204/8C , users can start a new move command including stop command to override the previous one during the axis traveling. The axis will be switched to new command immediately according to new setting of target position, new speed. This command can’t be overridden by other motion modes like Jog, home, manual pulse generation, contour motion. Users must stop axis motion before switching to those modes mentioned above. For EMX-100 , this function is used for single axis point-to-point motion using absolute position. Two speed profile parameters distance and maximum velocity are given by user, and other parameters like start velocity, acceleration rate, deceleration rate and s-factor are configurable by axis parameter table. The actual command velocity may not reach maximum velocity due to small traveling distance or accelerating rate are given. This function uses ‘fire-and-forget’ mode to avoid blocking user’s program or procedure during axis traveling. Users can read motion status MDN to check the motion is completed (MDN = 1) or not (MDN = 0). Except stop command, users CAN NOT start any new move command before previous motion is completed. # Syntax： C/C++： I32 FNTYPE APS\_absolute\_move( I32 Axis\_ID, I32 Position, I32 Max\_Speed ); Visual Basic： APS\_absolute\_move (ByVal Axis\_ID As Long, ByVal Position As Long, ByVal Max\_Speed As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Position： Absolute command position. Unit is pulse. I32 Max\_Speed： The maximum speed of this move profile. Unit： pulse/sec For EMX-100： I32 Max\_Speed： The maximum speed of this move profile, and its range is 1 \~ 8,000,000 (Unit： pulse/sec) # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： APS\_set\_axis\_param(Axis\_ID, PRA\_ACC, 1000000 ); //Set acceleration rate APS\_set\_axis\_param(Axis\_ID, PRA\_DEC, 1000000 ); //Set deceleration rate //Execute an absolute move APS\_absolute\_move( Axis\_ID, 10000, 10000 ); # See also： APS\_relative\_move();APS\_absolute\_move();APS\_home\_move();APS\_stop\_move(); APS\_emg\_stop() # APS\_velocity\_move Support Products： PCI-8253/56, PCI-8392(H) , PCI-8144, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, PCI(e)- 8154/8158, PCI-8102/ PCI-C154(+), EMX-100, PCI-8254/58 / AMP-204/8C, AMP-104C, AMP-304C # Descriptions： This function is used to start a velocity move. The axis will stop when users issue stop move command. The speed profile’s acceleration and deceleration rate and curve are set by axis parameter function. This function is ‘fire-and-forget’ type. That means user’s program or procedure will not be pended during axis traveling. Users must use motion status checking function or interrupt event waiting function to wait it done after axis is stopped by command or abnormal situation. For PCI-8253/56, PCI-8392(H), PCI-8254/58 / AMP-204/8C, users can start a new move command including stop command to override the previous one during the axis traveling. The axis will be switched to new command immediately according to new setting of target position, new speed. This command can’t be overridden by other motion modes like Jog, home, manual pulse generation, contour motion. Users must stop axis motion before switching to those modes mentioned above. The velocity move is one kind of positioning control. The controller will try to make feedback position to catch up command position. That means if the axis is stopped, the controller will control axis’s position to command because it is in position closed loop mode. For EMX-100 , this function is used for single axis velocity move. The speed profile parameter maximum velocity is given by user, and other parameters like start velocity, acceleration rate, deceleration rate and s-factor are configurable by axis parameter table. The axis will reach the maximum velocity first and move continuously (MDN = 0) until the stop move command is issued (MDN = 1). # Syntax： C/C++： I32 FNTYPE APS\_velocity\_move( I32 Axis\_ID, I32 Max\_Speed ); Visual Basic： APS\_velocity\_move (ByVal Axis\_ID As Long, ByVal Max\_Speed As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Max\_Speed： The maximum speed of this move profile. Unit： pulse/sec For EMX-100： I32 Max\_Speed： The maximum speed of this move profile, and its range is 1 \~ 8,000,000 (Unit： pulse/sec) # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： APS\_set\_axis\_param(Axis\_ID, PRA\_ACC, 1000000 ); //Set acceleration rate APS\_set\_axis\_param(Axis\_ID, PRA\_DEC, 1000000 ); //Set deceleration rate APS\_velocity\_move(Axis\_ID, Max\_Speed ); //Start velocity move APS\_stop\_move(Axis\_ID); //Stop velocity move # See also： APS\_relative\_move(); APS\_absolute\_move(); APS\_velocity\_move(); APS\_home\_move(); APS\_stop\_move(); APS\_emg\_stop() # APS\_home\_move Support Products： PCI-8253/56, PCI-8392(H), PCI-8144, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, PCI(e)- 8154/8158, PCI-8102/PCI-C154(+), EMX-100, PCI-8254/58 / AMP-204/8C, PCIe-833x, AMP-104C, ECAT-4XMO, ECAT-4XMO-MT, AMP-304C, PCIe-8364RS # Descriptions： This function is used to start a HOME (ORG or DOG) position of the axis. There are several modes which can be selected by axis parameter setting functions. After it is done, the position of the axis will be renew base on the physical location of HOME. This function is ‘fire-and-forget’ type. That means user’s program or procedure will not be pended during axis traveling. Users must use motion status checking function or interrupt event waiting function to wait it done. Users needn’t to write a home sequence to accomplish homing. All the sequences are controlled inside the board without CPU resource. # Note： 1. Home parameters are depended on the type of procucts; please refer to “axis parameter table” below. 2. Some products haven’t “Home ACC”, “Home VS” and “Home Curve” parameters; they are decided by “PRA\_ACC”, “PRA\_VS” and “PRA\_CURVE” respectively. Please refer to “axis parameter table” below. # Syntax： C/C++： I32 FNTYPE APS\_home\_move( I32 Axis\_ID ); Visual Basic： APS\_home\_move (ByVal Axis\_ID As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example1： Below example is for PCI-8253/6 //Set homing parameters APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_MODE, 0 ); //Set home mode APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_DIR, 1 ); //Set home direction APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_CURVE, 0 ); //Set acceleration paten (T-curve) APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_ACC, 1000000 ); //Set homing acceleration rate APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_VS, 0 ); //Set homing start velocity APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_VM, 2000000 ); //Set homing maximum velocity. APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_VO, 200000 ); //Set homing APS\_home\_move(Axis\_ID ); //Start homing …//Check homing done(Motion done) # Example2： Below example is for MNET-4XMO, MNET-4XMO-C and PCI(e)-8154/8 //Set homing parameters APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_MODE, 0 ); //Set home mode APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_DIR, 1 ); //Set home direction APS\_set\_axis\_param(Axis\_ID, PRA\_CURVE, 0 );// Set acceleration paten (T-curve) APS\_set\_axis\_param(Axis\_ID, PRA\_ACC, 1000000 ); //Set homing acceleration rate APS\_set\_axis\_param(Axis\_ID, PRA\_VS , 0 );//Set homing start velocity. \*1 APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_VM, 2000000 ); //Set homing maximum velocity. APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_VO, 200000 ); //Set homing FA velocity. \*1 APS\_home\_move(Axis\_ID ); //Start homing …//Check homing done(Motion done) # Example3： Below example is for PCI-8254/58 / AMP-204/8C and PCIe-833x //Set homing parameters APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_MODE, 0 ); //Set home mode APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_DIR, 1 ); //Set home direction APS\_set\_axis\_param\_f( Axis\_ID, PRA\_HOME\_CURVE, 0.5 ); //Set s-factor to 0.5 APS\_set\_axis\_param\_f( Axis\_ID, PRA\_HOME\_ACC, 100000.0 ); //Set homing acceleration rate APS\_set\_axis\_param\_f( Axis\_ID, PRA\_HOME\_VM, 2000000.0 ); //Set homing maximum velocity. APS\_set\_axis\_param\_f( Axis\_ID, PRA\_HOME\_VO, 200000.0 ); //Set homing leave home velocity APS\_home\_move(Axis\_ID ); //Start homing …//Check homing done(Motion done) # Example4： Below example is for PCI-8144 / AMP-104C //Set homing parameters APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_MODE, 0 ); //Set home mode APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_DIR, 1 ); //Set home direction APS\_set\_axis\_param( Axis\_ID, PRA\_SD\_EN , 1 ); // Enable slow down when SD input is turned ON. APS\_set\_axis\_param(Axis\_ID, PRA\_ACC, 1000 ); //Set homing acceleration rate APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_VM, 1000.0 ); //Set homing maximum velocity. APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_DOWN\_COUNTER, 10.0 ); //Set Homing down counter. APS\_home\_move(Axis\_ID ); //Start homing …//Check homing done(Motion done) # See also： APS\_set\_axis\_param(); APS\_get\_axis\_param(); APS\_stop\_move(); APS\_emg\_stop() \*1： This value must be smaller than PRA\_HOME\_VM PCIe-833x home mode scheme： ![**Title:** Home mode 0, Positive, EZA\n\n**Labeled Blocks:**\n* **MEL:** A gray vertical bar on the far left containing the label 'Speed' three times.\n* **OR:** A gray vertical bar in the center, intersected by a vertical red dashed line.\n* **PEL:** A gray vertical bar on the far right.\n* **Case A:** A yellow box in the upper right area.\n* **Case B:** A yellow box in the middle right area.\n* **Case C:** A yellow box in the lower middle right area.\n\n**Text Labels:**\n* **disable:** Located near the top left, bolded.\n* **- VM:** Located above 'disable' with an arrow pointing left.\n* **V:** Located near the top velocity profile path.\n* **Initial Home position position:** Located in the center-left area (text is stacked).\n* **VM:** Located within the central hexagonal shape (top, middle, bottom).\n* **V:** Located within the central hexagonal shape (middle).\n* **Home position:** Located in the lower left area.\n* **Initial position:** Located in the lower right area.\n* **- VM:** Located in the lower right area with dashed arrows.\n* **VM:** Located at the bottom right corner near the PEL bar.\n\n**Connections:**\n* **Disable:** Dotted arrows point from the 'disable' label and the area below it towards the left 'MEL' bar.\n* **Top Path:** A solid line originates at a dot, moves up-right, travels right, moves down-right, travels right, and ends at the central red dashed line.\n* **Initial Home position position:** Dotted arrows point from this text towards the left and upwards.\n* **Central Shape:** A hexagonal shape is connected to the red dashed line and a dot to its right. Dotted arrows point from this shape left and up.\n* **Initial position:** Dotted arrows point from this text to specific dots on the horizontal line.\n* **- VM (Bottom Right):** Dashed arrows point from this text towards the right 'PEL' bar.\n* **Bottom Path:** A solid line connects the bottom-left area (near 'Home position') across the bottom to the 'VM' label at the far right.](.aps-functionlibrary-v2-1/3421869eb459cfc5056637fceb95c65f9e7c4174526ae6b85c4805490d8271f4.jpg) VM ： Maximum velocity VO ： Homing velocity Figure 2 Home mode 0(ORG), positive direction, EZA disable ![The image displays a diagram titled '**Home mode 0, Negative, EZA**'. It is organized into three vertical columns labeled **ME**, **OR**, and **PEL** at the top.\n\n**Left Column (ME):**\n* Contains the text '**Speed**', '**disable**', and three yellow-highlighted boxes labeled '**Case**', '**Case B**', and '**Case C**'.\n* A graph shows a line starting at a dot, going down to a point labeled '**VM**', and extending horizontally to the right across the bottom.\n* Text '**Speed**' appears lower down.\n\n**Middle Column (OR):**\n* Contains three trapezoidal/hexagonal speed profile loops, each labeled with '**V**' and '**VM**'.\n* A red dashed vertical line runs through the right side of this column.\n* **Top Loop:** Dotted lines labeled '**Home**' and '**position**' point to its left vertex.\n* **Bottom Loop:** A dotted line labeled '**Home position**' points to its right vertex.\n* Text '**VM**' appears near the red line.\n\n**Right Column (PEL):**\n* Contains two dots.\n* The top dot is connected by a dashed line labeled '**VM**' to the top vertex of the top loop in the **OR** column.\n* The lower dot has a dotted arrow pointing to it from the text '**Initial position**'.\n\n**Connections and Annotations:**\n* Dotted arrows labeled '**Initial position**' point from the **PEL** column and the '**Case C**' area towards the start of the middle loop in the **OR** column.\n* A dashed line labeled '**VM**' (near '**Case C**') points towards the same start point of the middle loop in the **OR** column.\n\n**Bottom Text:**\n* '**VM : Maximum velocity**'\n* '**MO velocity**'\n* '**Homing velocity**'\n* '**velocity**' (at the very bottom center)](.aps-functionlibrary-v2-1/fab6dca63809759cbe3633f9fcb1cfbc36d7635e745bc7edb60e40b248a0f4d6.jpg) Figure 3 Home mode 0(ORG), negative direction, EZA disable Home mode 0, Positive, EZA ![The diagram illustrates a flowchart with three primary vertical gray blocks labeled **ME**, **OR**, and **PEL**.\n\n**Top Section:**\n- A signal line labeled **EZ** with a pulse pattern extends to the right.\n- The word **enable** appears above a yellow box labeled **Case**.\n- A dashed arrow points to the right from **Case**.\n\n**Left Block (ME):**\n- Contains the label **Speed** twice.\n- A dashed arrow points downwards and leftwards from a node.\n- A solid arrow points to the right from a node towards **VM** in the **OR** block.\n\n**Middle Block (OR):**\n- Contains two stacked hexagonal structures.\n- **Top Hexagon:** Labeled **VM** (top-left, top-right) and **V** (bottom-left, bottom-right) with arrows indicating a cycle.\n- **Bottom Hexagon:** Labeled **VM** (top-left, top-right) and **V** (bottom-left, bottom-right) with arrows indicating a cycle.\n- Dotted lines labeled **Home position** point to nodes in the top hexagon and the bottom section.\n- Dotted lines labeled **Initial position** point to nodes.\n\n**Right Block (PEL):**\n- Contains the label **VM** at the bottom right.\n\n**Bottom Section & Connections:**\n- A yellow box labeled **Initial position Case B and**.\n- Three nodes are labeled via dotted lines as **Initial position**.\n- Dashed arrows point to the right from these nodes.\n- One dashed arrow points to **VM** in the bottom hexagon of **OR**.\n- One dashed arrow points to **VM** in the **PEL** block.\n- Solid lines connect **VM** in the **OR** block to **VM** in the **PEL** block.](.aps-functionlibrary-v2-1/a81e6bdb4aa1d79e8fe0aaa089b94e06b4849a27833fc5efa42364a9eb5f8dff.jpg) VM ： Maximum velocity VO ： Homing velocity Figure 4 Home mode 0(ORG), positive direction, EZA enable, EZ\_DIR disable ![**Header:**\n* 'Home mode 0, Negative, EZA' with an arrow pointing left.\n* 'EZ' (label for a signal waveform with square pulses).\n\n**Left Block (ME):**\n* **Labels:** 'ME' (top), 'enable' (large text), 'Case A' (highlighted yellow), 'Speed'.\n* **Bottom Section:** 'Speed', 'VM' (dashed), 'Initial position' (text with dotted arrows pointing to dots), 'VM position' (bottom left).\n\n**Middle Block (OR):**\n* **Labels:** 'OR' (top), 'VM', 'VO', 'Home', 'Case B and C' (highlighted yellow), 'position', 'VM', 'V'.\n* **Vertical Lines:** A blue dashed line on the left side; a red dashed line on the right side.\n* **Upper Path:** A zig-zag path starts below 'VM', goes down-left, up-right to 'VM', down-right to 'VO', and up-right crossing the red dashed line.\n* **Lower Path:** A zig-zag path starts below 'Home', goes down-left to 'V', up-right to 'VM', down-left (dashed) to 'V', right to 'V', and up-right crossing the red dashed line.\n\n**Right Block (PEL):**\n* **Labels:** 'PEL' (top), 'VM' (dashed).\n* **Content:** A dot connected by dotted lines to 'Initial position'.\n\n**Connections:**\n* **From Upper Path (Middle Block):** After crossing the red dashed line, the path goes left to a dot, then up-right, then down-right to a dot. From this dot, a dashed line labeled 'VM' goes left. Dotted lines point from this dot to 'Initial position'. A dashed line connects this dot to the dot in the 'PEL' block.\n* **From Lower Path (Middle Block):** The path continues up-right after crossing the red dashed line.\n* **From Left Block (ME):** Dashed lines connect 'VM' to dots. Dotted arrows point to 'Initial position'.](.aps-functionlibrary-v2-1/22bf47f2a4d2cab708519d5c110fb1187fee43c36ab47e034717b32e2cb84f74.jpg) VM ： Maximum velocity VO ： Homing velocity Figure 5 Home mode 0(ORG), negative direction, EZA enable, EZ\_DIR disable Home mode 0, Positive, EZA enable, ![**Blocks:**\n* Three vertical gray blocks: **MEL** (left), **ORG** (center), and **PEL** (right).\n\n**Text Labels:**\n* Top: **EZ**, **EZDIR = 1** (in red), **Case** (in a yellow box).\n* Left Side: **Speed** (appears twice), **Initial position**, **Home position** (bottom left).\n* Center/Graph Area: **VM**, **VO** (appearing multiple times), **Home position** (top right), **Case B and C** (in a yellow box), **Initial position** (middle right), **VM** (bottom right).\n\n**Connections and Paths:**\n* **Top Path:** A dashed arrow originates near the **MEL** block. A solid black profile moves right, labeled with segments **VM** and **VO**. A green profile loops around the lower portion of this path. A dotted line points to the text **Home position**.\n* **Middle Path:** Under the label **Case B and C**, a black triangular profile moves up to **VM** and down towards the red dashed line bordering the **ORG** block. A green profile loops below it.\n* **Bottom Path:** To the right, a path enters the **PEL** block. It includes dashed lines labeled **VM** and dotted lines pointing to **Initial position**. A solid black line connects the bottom area to the **PEL** block, labeled **VM**.](.aps-functionlibrary-v2-1/70c6474b02d667310451c34a9581a075bfc2ded18f3646ec41bd0331a1a5623d.jpg) VM ： Maximum velocity VO ： Homing velocity Figure 6 Home mode 0(ORG), positive direction, EZA enable, EZ\_DIR enable ![**Labeled Blocks:**\n\n* **Top Header:** 'Home mode 0, Negative, EZA enable,' and 'EZ'\n* **Left Column:** 'ME', 'EZDIR = 1', 'Case A', 'Speed', 'VM', 'Initial position', 'VM position'\n* **Middle Column:** 'OR', 'Case B', 'Home position', 'VO', 'VM', 'V'\n* **Right Column:** 'PEL', 'VM', 'Initial position'\n\n**Connections:**\n\n* **Dotted Lines:**\n * An arrow connects 'Home position' to the 'OR' column.\n * An arrow connects 'Initial position' (bottom left) to the 'OR' column.\n * An arrow connects 'Initial position' (bottom right) to the 'VM' label in the 'OR' column.\n * A dotted line connects the 'VM' label (bottom left) to a dot.\n* **Solid Black Lines:**\n * A path starts at a dot near 'Speed' (left), goes down to 'VM position', moves right across the bottom, and goes up to a dashed 'VM' segment.\n * A hexagonal path is located in the 'OR' column, labeled 'VO' at the bottom vertex.\n * Another path in the 'OR' column connects the 'VO' vertex upwards and rightwards.\n* **Green Lines:**\n * A shape in the 'OR' column is labeled 'VM'.\n* **Vertical Lines:**\n * A red dashed vertical line runs through the 'OR' column.\n * A blue dashed vertical line runs between the 'OR' and 'PEL' columns.\n* **Dashed Lines:**\n * A dashed line connects two dots in the 'PEL' column.](.aps-functionlibrary-v2-1/3e7f79c97e9825562f3b5528339695c32fc47e0e3a4ed138b915db1d5fb1bfc3.jpg) VM ： Maximum velocity VO ： Homing velocity Figure 7 Home mode 0(ORG), negative direction, EZA enable, EZ\_DIR enable Home mode 1, Positive, EZA ![The flowchart depicts a comparison of two scenarios, **Case A** and **Case B**, illustrating speed profiles between a block labeled **ME** (left) and a block labeled **PEL** (right).\n\n**Blocks and Labels:**\n* **ME**: A gray box on the left containing two instances of the label **Speed**.\n* **PEL**: A gray box on the right containing speed profile shapes.\n* **Case A**: A yellow box labeling the top section.\n* **Case B**: A yellow box labeling the bottom section.\n* **disable**: Text with a strikethrough, appearing in the top section.\n* **VM**: A label at a vertex in both the top and bottom sections.\n* **V**: A label inside the top trapezoid in **PEL**.\n* **VC**: A label inside the bottom trapezoid in **PEL**.\n* **Initial position**: Text with a dotted arrow pointing to a black dot on the horizontal axis near **ME**.\n* **Home position**: Text with a dotted arrow pointing to the area where the horizontal axis intersects a vertical red dashed line in **PEL**.\n\n**Connections and Paths:**\n* **Case A (Top Section):**\n * A dashed line connects the **ME** area to the text **disable**.\n * A dashed arrow points from **disable** to a switch symbol (a black dot on a line with a diagonal cross).\n * A diagonal solid line connects the switch to a vertex labeled **VM**.\n * A solid horizontal line extends from **VM** to the right, entering **PEL** and dropping down into a trapezoidal shape labeled **V**.\n * A vertical red dashed line runs through the **PEL** box.\n\n* **Case B (Bottom Section):**\n * A solid horizontal line extends from the area below **Case B** into **PEL**.\n * This line enters a complex trapezoidal shape within **PEL**.\n * The shape features a top vertex labeled **VM**, a middle section labeled **VC**, and a bottom vertex labeled **VM**. The lines form a path rising to the top **VM**, dipping, rising again, and dipping to the bottom **VM**.\n * A black dot marks the end of this path on the far right.](.aps-functionlibrary-v2-1/282899bd4b27990f48289abb342a316f83f1a100989dfec27c9d8916e90a13b6.jpg) VM ： Maximum velocity VO ： Homing velocity Figure 8 Home mode 1(EL), positive direction, EZA disable Home mode 1, Negative, EZA ![Based on the provided image, here is the accurate and concise description of the flowchart/block diagram:\n\n**Labeled Blocks:**\n* **MEL**: A grey vertical rectangle on the far left.\n* **PEL**: A grey vertical rectangle on the far right.\n* **Case A**: A yellow rectangle in the upper right section.\n* **Case B**: A yellow rectangle in the lower right section.\n\n**Connections, Lines, and Text Labels:**\n* **Case A Section:**\n * A solid line originates from the top of the **MEL** block, extends right, and is labeled **'disable'** with a left-pointing arrow. It then slopes downward to a black dot on a horizontal axis.\n * To the left of this slope, the text **'Speed'** appears. Below the slope, the text **'V'** appears.\n * To the right, a dashed line labeled **'VM'** slopes downward to a second black dot on the horizontal axis.\n * The text **'Initial position'** has a dotted arrow pointing to the second (rightmost) dot.\n * The text **'Home position'** has a dotted line pointing to a vertical red dashed line that runs through the **MEL** block and the horizontal axis.\n\n* **Case B Section:**\n * A trapezoidal profile is depicted.\n * The top vertex is labeled **'VM'**.\n * The left ascending edge is labeled **'Speed'**.\n * The bottom vertex is labeled **'VO'**.\n * The right ascending edge rises to a point labeled **'VM'** (at the bottom right).\n * The vertical red dashed line intersects the right ascending edge of this profile.](.aps-functionlibrary-v2-1/8b8895f3deaae76930be45b38c063d07d70f48f165eae173f46a124b91064e1b.jpg) VM ： Maximum velocity VO ： Homing velocity Figure 9 Home mode 1(EL), negative direction, EZA disable Home mode 1, Positive, EZA ![Based on the provided image, here is the description of the flowchart/block diagram:\n\n**Labeled Blocks and Text:**\n* **Left Column:** A grey box labeled **MEL** containing the text **Speed** with a dashed arrow pointing to a dot. Below it, another instance of **Speed** appears.\n* **Top Section:** A yellow box labeled **Case A**. A dashed line labeled **enable** with an arrow pointing right. A feedback loop at the top labeled **EZ**.\n* **Right Column:** A grey box labeled **PEL**.\n* **Path Labels:** The text **VM** appears above the top horizontal path and below the bottom horizontal path. The letter **V** appears near trapezoidal shapes on the paths.\n* **Annotations:**\n * **Initial position**: A dotted arrow pointing to a dot on the top path.\n * **Home**: A dotted arrow pointing to the space between the blue and red vertical dotted lines.\n * **position VM**: A dotted arrow pointing to the bottom horizontal line of the lower path.\n * **Case B**: A yellow box.\n * **Initial position**: A dotted arrow pointing to the final dot of the lower path.\n\n**Connections and Flow:**\n* **Top Path (Case A):** The flow begins at the **enable** dashed line, moving up through a trapezoid labeled **V**. It then travels right along a line labeled **VM** to the **PEL** box. At **PEL**, the path descends through a **V** trapezoid, travels left across the bottom section, ascends through a **V** trapezoid, and returns to the **enable** level.\n* **Bottom Path (Case B):** Starting below **Case B**, the path moves through a trapezoid labeled **V**, travels right along a bottom line labeled **VM** to the **PEL** box (marked by a red dotted line). At **PEL**, the path ascends through a trapezoid labeled **VM**, travels right through a trapezoid labeled **V**, descends through a trapezoid labeled **VM**, and ends at a dot.\n* **Vertical Dividers:** A blue dotted vertical line runs through the center, and a red dotted vertical line runs through the right side (PEL section).](.aps-functionlibrary-v2-1/2216faf5d39784314cd7619146c6c2649998f2363d8bc8cfe2b9d763e30a2adf.jpg) VM ： Maximum velocity VO ： Homing velocity Figure 10 Home mode 1(EL), positive direction, EZA enable Home mode 1, Negative, EZA ![The image displays a diagram comparing two motion profiles, labeled as 'Case A' and 'Case B', plotted along a vertical axis labeled 'Speed'. The plot area is bounded by gray vertical bars labeled 'MEL' on the left and 'PEL' on the right.\n\n**Labeled Blocks and Text:**\n* **MEL** (Left gray bar)\n* **PEL** (Right gray bar)\n* **Case A** (Yellow highlight box)\n* **Case B** (Yellow highlight box)\n* **Speed** (Label on the vertical axis, appearing twice)\n* **enable** (Large black text overlaid in the top section)\n* **VM** (Label appearing in both sections)\n* **VO** (Label appearing in both sections)\n* **Initial position** (Text with dotted arrows pointing to specific points)\n* **Home position** (Text with a dotted arrow)\n* **EZ** (Label at the top right)\n\n**Connections and Structure:**\n\n**Case A (Top Section):**\n* A solid black line starts near the 'MEL' bar, moves upward, then downward past a label 'VO'.\n* A dashed line connects a point on this first shape to a second point further right.\n* A label 'VM' appears above the dashed line.\n* A vertical blue dotted line labeled 'EZ' (with a left-pointing arrow) crosses the diagram.\n* To the right of the blue line, a trapezoid-like shape peaks at a label 'VO'.\n* Dotted arrows from the text 'Initial position' point to the vertices of these shapes.\n\n**Case B (Bottom Section):**\n* A solid black line starts at a black dot labeled 'Initial position'.\n* The line moves upward past a label 'VM', then downward past a label 'VO'.\n* The line extends horizontally to the right, labeled 'VM' at the beginning and middle of the flat section.\n* The line then moves downward to a vertex labeled 'VO'.\n* A dotted arrow from the text 'Home position' points to the rightmost vertex.](.aps-functionlibrary-v2-1/88f223eed0090de75bb5a6995beaa642033d79700fa87462c7d55c0b427cba90.jpg) VM ： Maximum velocity VO ： Homing velocity Figure 11 Home mode 1(EL), negative direction, EZA enable Home mode 2, Positive ![This diagram illustrates two motion profiles (Case A and Case B) along a vertical axis labeled 'Speed' between two columns labeled 'MEL' and 'PEL'.\n\n**Top Section (Case A):**\n* **Blocks/Labels:** 'MEL', 'EZ', 'Case A', 'Speed' (dashed arrow), 'VM', 'Initial position', 'Home position', 'VO', 'PEL'.\n* **Connections:**\n * A horizontal line labeled 'EZ' with a downward pulse points rightward.\n * A dashed arrow labeled 'Speed' points to a trapezoidal trajectory.\n * The trajectory starts at a dot connected by a dotted line labeled 'Initial position'.\n * The trajectory rises to a plateau labeled 'VM', stays horizontal, and descends.\n * A vertical dotted line intersects the descending slope.\n * At the bottom of the descent is a small hexagon. A dotted arrow labeled 'Home position' points to this hexagon, and the label 'VO' appears below it.\n\n**Bottom Section (Case B):**\n* **Blocks/Labels:** 'Case B', 'Speed', 'VM' (appears three times), 'Home position', 'VO'.\n* **Connections:**\n * A trajectory starts low, rises to a peak labeled 'VM', and descends to a hexagon.\n * A dotted arrow labeled 'Home position' points to this hexagon, and the label 'VO' appears below it.\n * The trajectory rises again to a plateau labeled 'VM', stays horizontal, and descends.\n * The label 'VM' appears at the bottom right corner.](.aps-functionlibrary-v2-1/c6f6692f902d83bb8263dd1a4fc2a0a9dc921f92c4a9c292ae81e2b985a2ee8f.jpg) VM ： Maximum velocity VO ： Homing velocity Figure 12 Home mode 2(EZ), position direction ![The diagram illustrates a motion profile or flow between two vertical boundaries, labeled 'MEL' (left) and 'PEL' (right).\n\n**Labeled Blocks and Text:**\n* **Left Boundary:** A grey vertical rectangle labeled 'MEL' and 'Speed'.\n* **Right Boundary:** A grey vertical rectangle labeled 'PEL'.\n* **Top Section:** Text 'Home mode 2,' with a left-pointing arrow, 'Negative', 'EZ', and a yellow box labeled 'Case A'.\n* **Bottom Section:** A yellow box labeled 'Case B', small text 'Speed', and labels 'VM', 'VO'.\n* **Right Side:** Labels 'VM', 'Initial', 'Initial position', and 'Home position'.\n* **Center/Bottom:** Labels 'VO', 'VM', 'VM', 'VM'.\n\n**Connections and Paths:**\n* **Case A (Top):**\n * A thick black line starts below 'Negative', goes down-right, then horizontal left to a vertex labeled 'VO'.\n * From 'VO', a dotted arrow points up-right.\n * The path continues horizontal right, then down-left to a dot labeled 'Initial'.\n * From 'Initial', a dotted arrow points down-left.\n * A dashed line labeled 'VM' connects the upper path to the 'PEL' boundary.\n * A dotted arrow connects the 'PEL' boundary to 'Home position'.\n* **Case B (Bottom):**\n * Dashed lines labeled 'VM' and dotted lines labeled 'Initial' point to a dot on the left axis (under 'Speed').\n * A thick black line forms a closed loop: Starts at the left dot, goes down to a label 'VM', horizontal right, up-right to a label 'VM', up-left to a label 'VO', and horizontal left back to the start dot.\n * A dotted arrow connects the bottom 'VO' up-right towards 'Home position'.](.aps-functionlibrary-v2-1/f0f5fae7499f4f6d9a3912476c6ea485e20a610c6925f363585e979aa3809382.jpg) VM ： Maximum velocity VO ： Homing velocity Figure 13 Home mode 2(EZ), negative direction Home mode 3, Positive ![Initial position\nHome position\nVelocity\nTorque limit value\nTorque actual value](.aps-functionlibrary-v2-1/f4debf30be676fc40b22054213af85051911c42a8f6db56a1ea1172f2b05fe8d.jpg) Figure 14 Home mode 3(torque), positive direction Home mode 3, Negative ![Home\nposition\nInitial\nposition\nVelocity\nTorque limit\nvalue](.aps-functionlibrary-v2-1/23c6ac7f88b92b7b7166492c77643f82d5e617ff6ba736248119b19f5dd6b971.jpg) Figure 15 Home mode 3(torque), negative direction Home mode 4, Positive ORG-> immediately stop ![Based on the provided image, here is an accurate and concise description of the flowchart/block diagram:\n\n**Structure and Columns**\nThe diagram is divided into three vertical columns labeled at the top: **MEL**, **ORG**, and **PEL**. The vertical axis on the left is labeled **Speed** (repeated for each row).\n\n**Legend (Bottom)**\n* **VM : Maximum velocity**\n* **VO : Homing velocity(FA)**\n\n**Case A (Top Row)**\n* **Labels:** **Case A**, **VM**, **VO** (appearing twice near the profile peaks), **Initial position**, **Home position**.\n* **Connections:**\n * A dashed arrow points from **Initial position** to a start dot.\n * A dashed line labeled **VM** ascends.\n * A solid line forms a trapezoid shape.\n * Inside the **ORG** column, a rectangular box contains the text **VO**.\n * Dotted arrows point from **Initial position** and **Home position** to the profile.\n\n**Case B (Middle Row)**\n* **Labels:** **Case B**, **VM** (appearing twice), **VO** (appearing twice), **Home position**, **Initial position**, **ORG offset** (in blue).\n* **Connections:**\n * A solid hexagonal profile is drawn.\n * Inside the **ORG** column, a rectangular box contains the text **VO**.\n * Dotted arrows point from **Home position** (to the start) and **Initial position** (to a dot on the far right).\n * Blue arrows point outward (left and right) with the blue text **ORG offset**.\n\n**Case C (Bottom Row)**\n* **Labels:** **Case C**, **VM** (appearing twice), **Home position**, **Initial position**, **ORG offset** (in blue).\n* **Connections:**\n * A solid profile exists to the left of the red dashed line. Inside the **ORG** column, a small box is visible.\n * Dotted arrows point from **Home position** to the solid profile.\n * Blue arrows point outward with the blue text **ORG offset**.\n * To the right of the red dashed line, there is a dashed profile rising and falling.\n * Dashed lines labeled **VM** indicate the ascent.\n * Dotted arrows point from **Initial position** to the start and end of the dashed section.\n * The text **VM** appears at the bottom right corner.](.aps-functionlibrary-v2-1/f715577c3d5b2aa8fa2091c7e99dfa727f61c42952b187ddaaeb9bf7931f1147.jpg) Home mode 4(ORG, immediately stop), positive direction Home mode 4, Negative ORG-> immediately stop ![The diagram is organized into three vertical columns labeled **MEL**, **ORG**, and **PEL**. It illustrates three scenarios labeled **Case A**, **Case B**, and **Case C**.\n\n**Blocks and Labels:**\n* **MEL Column:** Contains the headers 'MEL' and 'Speed', and the highlighted blocks 'Case A', 'Case B', and 'Case C'.\n* **ORG Column:** Contains the header 'ORG'. It features hexagonal shapes in each case.\n * **Case A Shape:** Labeled 'VM' at the top vertex and 'VO' inside.\n * **Case B Shape:** Labeled 'VM' at the top vertex and 'VO' inside.\n * **Case C Shape:** Labeled 'VM' at the bottom vertex and 'VO' inside.\n* **PEL Column:** Contains the header 'PEL'.\n* **Footer:** Contains the text 'VM : Maximum velocity' and 'VO : Homing velocity(FA)'.\n\n**Connections:**\n* **Case A:**\n * A dashed line connects a point labeled **'Initial position'** (in the PEL column) to the top vertex of the ORG shape.\n * A solid arrow points downward inside the ORG shape.\n * A vertical red dotted line separates the ORG and PEL columns.\n* **Case B:**\n * A dotted line labeled **'Home position'** points to the ORG shape.\n * A dotted line labeled **'Initial position'** points to a black dot in the ORG column.\n* **Case C:**\n * A dashed line labeled **'Initial position'** points to a black dot.\n * A dotted line labeled **'Home position'** points to the ORG shape.\n * Text **'ORG offset'** appears below the shape with blue arrows pointing left and right.](.aps-functionlibrary-v2-1/7bfb22e273871632b3356167c27869a78f6cf078a58d4fa68d548e69b50b0734.jpg) Home mode 4(ORG, immediately stop), negative direction Home mode 5, Positive ORG-> EZ -> immediately stop ![Based on the provided image, here is an accurate and concise description of the flowchart/block diagram:\n\n**Main Blocks (Vertical Columns):**\n* **MEL** (Left)\n* **ORG** (Center)\n* **PEL** (Right)\n\n**Top Element:**\n* A waveform labeled **EZ** at the very top.\n\n**Diagram Content (Organized by Rows/Scenarios):**\n\n* **Top Row (Case A):**\n * **Blocks:** Speed, **VM**, **VO**.\n * **Connections:** Dotted arrows point from **Initial position** to the start of the profile and from **Home position** to the profile ramp. Vertical blue dotted and red dashed lines run through the **ORG** column.\n\n* **Middle Row (Case B):**\n * **Blocks:** Speed, **VM**, **VO**, **ORG offset**.\n * **Connections:** Dotted arrows point from **Initial position** and **Home position** to the profile. Blue arrows indicate the **ORG offset**. A yellow box labels this section **Case B**.\n\n* **Bottom Row (Case C):**\n * **Blocks:** Speed, **Home position**, **ORG offset**, **VM**.\n * **Connections:** Dotted arrows point from **Home position** to the profile. Blue arrows indicate the **ORG offset**. On the right side, dotted lines labeled **VM** point towards a dot in the **PEL** column. A yellow box labels this section **Case C**. A final **VM** label is at the bottom right.](.aps-functionlibrary-v2-1/195a4a5efce3b317eb362b4f1bdec6b31a7e9d2b15eefedd5a4d9ed27b66f4f0.jpg) VM: Maximum velocityVO : Homing velocity(FA) Home mode 5(ORG+EZ, immediately stop), positive direction Home mode 5, Negative ORG-> EZ -> immediately stop ![Based on the provided image, here is an accurate and concise description of the flowchart/block diagram, listing all labeled blocks and connections verbatim:\n\n**Main Vertical Columns:**\n* **MEL** (Left column)\n* **ORG** (Middle column)\n* **PEL** (Right column)\n\n**Top Element:**\n* A square waveform arrow labeled **EZ**\n\n**Labels and Blocks within the Diagram:**\n* **Case A** (Yellow highlight in MEL column)\n* **Speed** (Under Case A)\n* **Case B** (Yellow highlight in MEL column)\n* **Speed** (Under Case B)\n* **Case C** (Yellow highlight in MEL column)\n* **Speed** (Under Case C)\n* **VO** (Appears in ORG column next to Case A and Case B)\n* **VM** (Appears in ORG column next to Case A, Case B, and Case C)\n* **Home position** (Appears twice: once pointing to a dot in the ORG column next to Case B, and once pointing to a dot in the ORG column next to Case C)\n* **Initial position** (Appears twice: once pointing to a dot in the PEL column next to Case A, and once pointing to a dot in the MEL column next to Case C)\n* **ORG offset** (Appears twice in the ORG column with blue arrows pointing left)\n\n**Connections and Layout:**\n* The diagram is organized into three rows corresponding to **Case A**, **Case B**, and **Case C**.\n* **Dotted lines** connect text labels (**Home position**, **Initial position**) to specific dots on the speed profile graphs.\n* **Dashed lines** connect the speed profiles between columns (e.g., connecting the **PEL** column profile to the **ORG** column profile in **Case A**, and showing a profile within the **MEL** column in **Case C**).\n* Blue arrows next to **ORG offset** point towards the left.](.aps-functionlibrary-v2-1/04a52ac7312afe13dedd14246f2edf7129ee63eb47709c0c050d4ddc296356ef.jpg) VM: Maximum velocityVO : Homing velocity(FA) EZA :EZ count Home mode 5(ORG+EZ, immediately stop), negative direction Home mode 6, Positive EL-> Reverse -> EZ-> immediately stop ![The diagram features two vertical grey blocks: a left block labeled **MEL** (containing the text **Speed** twice) and a right block labeled **PEL** (containing **VM** and **VO**).\n\n**Case A** (yellow box) depicts a speed profile starting from a dot on the **MEL** block. A dashed line ascends and extends right to the label **VM**. A solid line connects back down, ramps up to the **VM** level, moves horizontally right, ramps down to a step labeled **VO**, and continues horizontally. Dotted arrows indicate **Initial position** pointing to the start dot and the bottom corner of the ramp. Another dotted arrow indicates **Home position** pointing to a vertical blue dashed line.\n\n**Case B** (yellow box) depicts a profile starting low on the **MEL** block and moving right, ending with a small trapezoidal shape near the **PEL** block labeled **VO**. A dotted arrow indicates **Home position** pointing to the bottom corner of this shape.\n\nAt the top right, a vertical blue dashed line is labeled **EZ**, aligned with a pulse waveform. A red dashed line runs vertically through the **PEL** block.](.aps-functionlibrary-v2-1/a4907fbc91ab1b93d07de4403ef1156d78bc2f0a778b263107a99e455503c10a.jpg) VM: Maximum velocity VO : Homing velocity Home mode 6(EL+EZ, immediately stop), positive direction Home mode 6, Negative EL-> Reverse -> EZ-> immediately stop ![The diagram displays a speed profile comparison with two main vertical blocks and two graphs.\n\n**Blocks and Labels:**\n* **Left Block:** A tall grey vertical rectangle labeled 'MEL' at the top. Inside, the word 'Speed' appears twice, aligned with the upper and lower graphs.\n* **Right Block:** A tall grey vertical rectangle labeled 'PEL' at the top.\n* **Top Right:** A label 'EZ' with an arrow pointing to the right.\n\n**Graphs (Speed Profiles):**\n* **Upper Graph (Case A):** Labeled 'Case A' in a yellow box. A solid black line begins at 'MEL', ramps up, maintains a constant speed labeled 'VM', ramps down, maintains a lower constant speed labeled 'VO', ramps up, maintains a constant speed, and ramps down to a dot. From this dot, a dashed black line labeled 'VM' extends upwards to the right towards the 'PEL' block.\n* **Lower Graph (Case B):** Labeled 'Case B' in a yellow box. A solid black line begins at 'MEL', ramps down, maintains a constant speed labeled 'VO', ramps up, and maintains a high constant speed across the rest of the diagram.\n\n**Annotations and Connections:**\n* **Vertical Lines:** Two vertical blue dotted lines run through the upper graph. Two orange ovals encircle these lines.\n* **'VO':** The label 'VO' appears below the middle horizontal segment of the upper graph and below the middle horizontal segment of the lower graph.\n* **'VM':** The label 'VM' appears above the top horizontal segment of the upper graph and above the dashed line connecting the upper graph to 'PEL'.\n* **'Initial position':** This text is centered with two dotted arrows: one pointing left to the dot where the solid upper line ends, and one pointing right to a dot near the 'PEL' block.\n* **'Home position':** This text has a dotted arrow pointing to the rightmost blue dotted line.](.aps-functionlibrary-v2-1/06867d2fe74d03adf7847aae58c709a677cb7d6d16f507f2b58b2632907e693d.jpg) VM : Maximum velocity VO : Homing velocity EZA : EZ count set 1 Home mode 6(EL+EZ, immediately stop), negative direction Home mode 7, positive ![Based on the provided image, here is an accurate and concise description of the flowchart/block diagram:\n\n**Vertical Blocks:**\n* **MEL:** A vertical grey column on the far left.\n* **ORG:** A vertical grey column in the middle. Its left edge is marked by a red dotted line.\n* **PEL:** A vertical grey column on the far right.\n\n**Top Section (Case A):**\n* **Labels:** 'Case A' (in a yellow box), 'VM' (above a solid line), 'Speed' (top left), 'Home position' (top right), and 'Initial position' (below the top horizontal line).\n* **Connections:**\n * A dashed line extends from a dot on the horizontal axis up and to the left.\n * A dashed line extends rightward from that upper point.\n * A solid line extends rightward (labeled 'VM').\n * A solid line extends up and to the right, ending at the 'ORG' column.\n * A dotted arrow points from the 'Initial position' label toward a dot on the horizontal axis.\n * A dotted arrow points from the 'Home position' label toward the 'ORG' column.\n\n**Bottom Section (Case B and C):**\n* **Labels:** 'Case B and C' (in a yellow box), 'Speed' (bottom left), 'VM' (appears three times: once near the bottom left junction, once above a dashed line in the middle, and once near the 'PEL' column), 'Home position' (bottom left), and 'Initial position' (bottom right).\n* **Connections:**\n * A dotted arrow points from the 'Home position' label toward a junction point.\n * A solid line goes down from the 'ORG' column.\n * A solid line goes up and to the left.\n * A solid line goes down and to the right.\n * A dashed line goes down and to the right from the bottom of the 'ORG' column.\n * A solid line goes up and to the right.\n * A dashed line goes rightward (labeled 'VM').\n * A dashed line goes down and to the right.\n * Three dotted arrows point from the 'Initial position' label toward three distinct dots on the horizontal axis.\n * A solid line goes up and to the right, ending at the 'PEL' column.\n * A solid line runs along the bottom edge to the right.\n * A solid line goes up and to the right, ending at the 'PEL' column.](.aps-functionlibrary-v2-1/8297e2c37ce796913a592b7be65ac4fbe4b4042bb9f5c5865eca9d7c00987b4a.jpg) VM : Maximum velocity Home mode 7(ORG, immediately stop), positive direction Home mode 7, negative ![Based on the provided image, here is an accurate and concise description of the flowchart/block diagram:\n\n**Labeled Blocks and Regions:**\n* **MEL**: Vertical grey column on the left.\n* **ORG**: Vertical grey column in the center.\n* **PEL**: Vertical grey column on the right.\n* **Case A**: Yellow box in the upper right quadrant.\n* **Case B and C**: Yellow box in the lower right quadrant.\n* **VM**: Text label appearing in multiple locations.\n* **Speed**: Text label appearing inside the **MEL** and **PEL** columns.\n* **Home position**: Text label appearing twice.\n* **Initial position**: Text label appearing twice (in the top and bottom sections).\n\n**Connections and Layout:**\nA vertical red dashed line separates the **ORG** column from the space to its right. The diagram is divided into two main scenarios:\n\n**1. Top Section (Case A):**\n* **Case A** is labeled in a yellow box.\n* **VM** labels a dashed horizontal line near the top right.\n* **Speed** is written inside the **PEL** column.\n* **Home position** points via a dotted arrow to the red dashed vertical line.\n* **Initial position** points via a dotted arrow to a black dot.\n* Solid lines connect the dashed **VM** line to the **Initial position** dot and the **ORG** boundary.\n\n**2. Bottom Section (Case B and C):**\n* **Case B and C** is labeled in a yellow box.\n* **Speed** is written inside the **MEL** column.\n* **VM** labels a dashed line and a solid horizontal line in the left section.\n* **Initial position** has dotted arrows pointing to three black dots: one in the white space to the left of **ORG**, one inside the **ORG** column, and one further left.\n* **Home position** points via a dotted arrow to the red dashed vertical line.\n* Solid lines depict a trajectory starting in the **MEL** column, moving horizontally (labeled **VM**), passing through the **ORG** column, and interacting with the red boundary.](.aps-functionlibrary-v2-1/4c2e2744db3a06be0a60fbc489339287eda20f461e629560c9914a9d271253a1.jpg) VM : Maximum velocity Home mode 7(ORG, immediately stop), negative direction Home mode 8, Positive ![The diagram features two vertical gray blocks labeled **MEL** on the left and **PEL** on the right.\n\n**Case A (Top Section):**\n* **Labels:** Inside **MEL**, there is a label **Speed**. A yellow box is labeled **Case A**. The text **VM** appears above the center. A dotted line points from **Initial position** to a black dot on a horizontal line inside **MEL**.\n* **Connections:**\n * A dashed line goes from the top **Speed** area diagonally up-right to **VM**, with an arrow pointing to **VM**.\n * A solid horizontal line extends from the **Initial position** dot to the right.\n * From a black dot on this horizontal line, a solid line goes diagonally up to **VM**.\n * From **VM**, a solid line goes horizontally right into **PEL**.\n * The horizontal line from **Initial position** continues horizontally right into **PEL**.\n * Arrows indicate flow into **PEL** on both the upper track (from **VM**) and the middle track.\n * A dotted line points from **Home position** to a vertical red dashed line inside **PEL**.\n\n**Case B (Bottom Section):**\n* **Labels:** Inside **MEL**, there is a second label **Speed**. A yellow box is labeled **Case B**. The text **VM** appears twice on the right side (once near the red dashed line, once below it). A dotted line points from **Home position** to the red dashed line area.\n* **Connections:**\n * A solid horizontal line extends from the bottom **Speed** area into **PEL**.\n * Inside **PEL**, near the red dashed line, there is a path: an arrow points down-right from the middle horizontal line, followed by an arrow pointing left along a bottom segment, and then an arrow pointing down-right to a black dot on the bottom horizontal line.\n * The text **VM** is positioned near the red dashed line and again near the bottom horizontal line.](.aps-functionlibrary-v2-1/b604f0b87621e59e58d649763028476e482d76420d6ceb8a468371881dac43a5.jpg) VM : Maximum velocity Home mode 8(EL, immediately stop), positive direction Home mode 8, Negative ![Based on the provided image, here is an accurate and concise description of the flowchart/block diagram:\n\n**Main Blocks and Labels:**\n* **Left Block:** A grey vertical rectangle labeled **'MEL'**.\n* **Right Block:** A grey vertical rectangle labeled **'PEL'**. Inside this block, the word **'Speed'** appears twice (once near the top, once near the bottom).\n* **Yellow Boxes:** Two yellow boxes containing the text **'Case A'** (top right) and **'Case B'** (middle right).\n* **Other Text Labels:**\n * **'VM'** appears three times (once at the top center, twice in the bottom-left area).\n * **'Home position'** is centered.\n * **'Initial position'** is centered to the right.\n\n**Connections and Paths:**\n* **Top Section (Case A):**\n * A solid horizontal line extends from the MEL box to the right, ending at a point labeled **'VM'**.\n * From this **'VM'** point, a solid diagonal line goes down and left to a black dot.\n * A dashed horizontal line extends from the **'VM'** point to the right towards the PEL box.\n * A dashed diagonal line goes from the right side down to a black dot on the middle horizontal line.\n* **Middle Section:**\n * A solid horizontal line runs across the diagram.\n * Two black dots are on this line. Dotted arrows from the text **'Initial position'** point to both of these dots (one on the left/center, one on the right near PEL).\n* **Bottom Left Section (Case B):**\n * A vertical red dashed line runs through the MEL box.\n * A black dot is on the far left edge of the MEL box.\n * A series of solid lines form a zigzag shape:\n * From the left black dot, a line goes down and right to a point labeled **'VM'** (bottom).\n * From there, a line goes horizontally right.\n * From the end of that segment, a line goes up and right to the red dashed vertical line.\n * From the red dashed line, a line goes up and left to a point labeled **'VM'** (middle).\n * From this upper **'VM'** point, a line goes down and right to the middle horizontal line.\n * Dotted arrows from the text **'Home position'** point to the junction on the middle horizontal line and to the bottom **'VM'** label.](.aps-functionlibrary-v2-1/3a8f14b067ac3df5ca84552dc3f2b3c5267c79f6e3a5b068e794e8ee20f82509.jpg) VM : Maximum velocity Home mode 8(EL, immediately stop), negative direction # APS\_stop\_move Support Products： PCI-8253/56, PCI-8392(H) , PCI-8144, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, PCI(e)- 8154/8158, PCI-8102/PCI-C154(+), EMX-100, PCI-8254/58 / AMP-204/8C , PCIe-833x, AMP-104C, ECAT-4XMO, ECAT-4XMO-MT, AMP-304C, PCIe-8364RS # Descriptions： This function is used to stop single or multiple axes motion at once. It can stop single axis homing, positioning and speed moving. It also can stop multiple axes interpolation motion when users place one of axis ID which is relative to interpolation moving. The deceleration profile is set by axis parameter function which is different from normal deceleration setting. The deceleration parameter is different from normal move profile. It can be set individually. The stop function can’t be overridden by other functions. # Syntax： C/C++： I32 FNTYPE APS\_stop\_move(I32 Axis\_ID); Visual Basic： APS\_stop\_move (ByVal Axis\_ID As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： // APS\_absolute\_move(Axis\_ID, Position, Max\_Speed ); // APS\_home\_move(Axis\_ID ); //Home move APS\_stop\_move(Axis\_ID); //Stop move # See also： APS\_emg\_stop() # APS\_emg\_stop Support Products： PCI-8253/56, PCI-8392(H) , PCI-8144, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, PCI(e)- 8154/8158, PCI-8102/PCI-C154(+), EMX-100, PCI-8254/58 / AMP-204/8C , PCIe-833x, AMP-104C, ECAT-4XMO, ECAT-4XMO-MT, AMP-304C, PCIe-8364RS # Descriptions： This function is used to stop single or multiple axes motion immediately. It can stop single axis homing, positioning and speed moving. It also can stop multiple axes interpolation motion when users place one of axis ID which is relative to interpolation moving. Because the stop function will stop axis accidentally, it will generate an abnormal stop interrupt event rather than normal stop event if interrupt factor is set. The motion status will also be set to an abnormal stop status. The abnormal stop status or event will be clear by next motion command. This function has no deceleration profile. # Syntax： C/C++： I32 FNTYPE APS\_emg\_stop(I32 Axis\_ID); Visual Basic： APS\_emg\_stop (ByVal Axis\_ID As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```c // APS_absolute_move(Axis_ID, Position, Max_Speed); // APS_home_move(Axis_ID); //Home move ... APS_emg_stop (Axis_ID); //EMG stop ``` # See also： APS\_stop\_move() # APS\_relative\_move2 Support Products： PCI-8253/56, PCI-8392(H) # Descriptions： This function is used to start a relative distance move. The ability of this function is similar with “APS\_relative\_move()” function. The different between these two functions is that this function is issued with speed profile within one system cycle. The system cycle means on handshage time with controller from Host PC. # Syntax： C/C++： I32 FNTYPE APS\_relative\_move2( I32 Axis\_ID, I32 Distance, I32 Start\_Speed, I32 Max\_Speed, I32 End\_Speed, I32 Acc\_Rate, I32 Dec\_Rate ); Visual Basic： APS\_relative\_move2( ByVal Axis\_ID As Long, ByVal Distance As Long, ByVal Start\_Speed As Long, ByVal Max\_Speed As Long, ByVal End\_Speed As Long, ByVal Acc\_Rate As Long, ByVal Dec\_Rate As Long ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Distance： Relative distance. Unit is pulse. I32 Start\_Speed： The starting speed of this move profile. Unit： pulse/sec I32 Max\_Speed： The maximum speed of this move profile. Unit： pulse/sec. I32 End\_Speed： The end speed of this move profile. Unit： pulse/sec I32 Acc\_Rate： Acceleration rate. Pulse/(sec2) I32 Dec\_Rate： Deceleration rate. Pulse/(sec2) # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： # See also： APS\_relative\_move() # APS\_absolute\_move2 Support Products： PCI-8253/56, PCI-8392(H) # Descriptions： This function is used to start an absolute position move. The ability of this function is similar with “APS\_absolute\_move()” function. The different between these two functions is that this function is called with speed profile parameters and this function only take one system cycle to pass parameters. The system cycle means on handshage time with controller from Host PC. # Syntax： C/C++： I32 FNTYPE APS\_absolute\_move2( I32 Axis\_ID, I32 Position, I32 Start\_Speed, I32 Max\_Speed, I32 End\_Speed, I32 Acc\_Rate, I32 Dec\_Rate ); Visual Basic： APS\_absolute\_move2( ByVal Axis\_ID As Long, ByVal Position As Long, ByVal Start\_Speed As Long, ByVal Max\_Speed As Long, ByVal End\_Speed As Long, ByVal Acc\_Rate As Long, I32 Dec\_Rate As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Position： The absolute position. Unit： pulse I32 Start\_Speed： The starting speed of this move profile. Unit： pulse/sec I32 Max\_Speed： The maximum speed of this move profile. Unit： pulse/sec. I32 End\_Speed： The end speed of this move profile. Unit： pulse/sec I32 Acc\_Rate： Acceleration rate. Unit： pulse/sec2 I32 Dec\_Rate： Deceleration rate. Unit： pulse/sec2 # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： # See also： APS\_absolute\_move() # APS\_home\_move2 Support Products： PCI-8253/56, PCI-8392(H) # Descriptions： This function is used to start a home move operation. The ability of this function is similar with “APS\_home\_move()” function. The different between these two functions is that this function is called with speed profile parameters and this function only take one system cycle to pass parameters. The system cycle means on handshage time with controller from Host PC. # Syntax： C/C++： I32 FNTYPE APS\_home\_move2( I32 Axis\_ID, I32 Dir, I32 Acc, I32 Start\_Speed, I32 Max\_Speed, I32 ORG\_Speed ); Visual Basic： APS\_home\_move2( ByVal Axis\_ID As Long, ByVal Dir As Long, ByVal Acc As Long, ByVal Start\_Speed As Long, ByVal Max\_Speed As Long, ByVal ORG\_Speed As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Dir： Homing direction. 0： positive direction (default) 1： negative direction I32 Acc： Home move acceleration/Deceleration rate. Unit： pulse/sec2 I32 Start\_Speed： Homing start velocity. Unit pulse/sec I32 Max\_Speed： Homing maximum velocity. Unit： pulse/sec. I32 ORG\_Speed： Homing leave home velocity. Unit： pulse/sec. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： # See also： APS\_home\_move() # APS\_speed\_override Support Products ： MNET-1XMO, MNET-4XMO, MNET-4XMO-C, PCI(e)-8154/58, PCI-C154(+), AMP-304C # Descriptions ： During the axis traveling, users can change a new move speed to override the previous motion. The axis will be switched to new speed immediately. Note： If original distant is not enough to override to new speed, it will return ERR\_DistantNotEnough. Note： If new speed is the same as current moving speed, it will return ERR\_ParametersInvalid. # Syntax： C/C++： I32 FNTYPE APS\_speed\_override( I32 Axis\_ID, I32 Max\_Speed ); Visual Basic： APS\_speed\_override (ByVal Axis\_ID As Long, ByVal Max\_Speed As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Max\_Speed： The maximum speed to override previous motion. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Distance; I32 Max\_Speed; I32 New\_Speed; I32 ret; APS\_relative\_move(Axis\_ID, Distance, Max\_Speed ); //Start relative move //Speed override ret = APS\_speed\_override(Axis\_ID, New\_Speed ); //Change to new speed # See also： # APS\_relative\_move\_ovrd Support Products ： MNET-1XMO, MNET-4XMO, MNET-4XMO-C, PCI(e)-8154/58, PCI-C154(+), AMP-304C # Descriptions ： Begin a relative distance： This function is used to start a single axis relative motion. Although there is maximum speed setting in function parameter, the traveling distance and accelerating rate may not be enough due to user’s setting to reach the maximum speed. The speed profile’s acceleration and deceleration rate and curve are set by axis parameter function. # Override during the axis traveling： During the axis traveling, users can start a new move command to override the previous one. The axis will be switched to new command immediately according to new setting of new distance, new speed. Notice that if new distance is not enough to override to new speed, it will return ERR\_DistantNotEnough. Notice that, new distance was reference to command counter when overriding regardless of the setting of the axis parameter PRA\_FEEDBACK\_SRC. # Syntax： C/C++： I32 FNTYPE APS\_ relative\_move\_ovrd ( I32 Axis\_ID, I32 Distance, I32 Max\_Speed ); Visual Basic： APS\_ relative\_move\_ovrd (ByVal Axis\_ID As Long, ByVal Distance As Long , ByVal Max\_Speed As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Distance： Relative distance. Unit is pulse. I32 Max\_Speed： The maximum speed of this move profile. Unit： pulse/sec. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Distance; I32 Max\_Speed; I32 New\_Distance： I32 New\_Speed; I32 ret; ```c // Begin a relative distance Ret = APS_relative_move_ovrd(Axis_ID, Distance, Max_Speed); // Override during the axis traveling ret = APS_relative_move_ovrd(Axis_ID, New_Distance, New_Speed); ... ``` See also： # APS\_absolute\_move\_ovrd Support Products ： MNET-1XMO, MNET-4XMO, MNET-4XMO-C, PCI(e)-8154/58, PCI-C154(+), AMP-304C # Descriptions ： Begin an absolute position move： This function is used to start a single axis absolute positioning motion. Although there is maximum speed setting in function parameter, the traveling distance and accelerating rate may not be enough due to user’s setting to reach the maximum speed. The speed profile’s acceleration and deceleration rate and curve are set by axis parameter function. # Override during the axis traveling： During the axis traveling, users can start a new move command to override the previous one. The axis will be switched to new command immediately according to new setting of absolute position, new speed. Notice that if new position is not enough to override to new speed, it will return ERR\_DistantNotEnough. Notice that, new position was reference to command counter when overriding regardless of the setting of the axis parameter PRA\_FEEDBACK\_SRC. # Syntax： C/C++： I32 FNTYPE APS\_absolute\_move\_ovrd ( I32 Axis\_ID, I32 Position, I32 Max\_Speed ); Visual Basic： APS\_absolute\_move\_ovrd (ByVal Axis\_ID As Long, ByVal Position As Long , ByVal Max\_Speed As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Position： Absolute position. Unit is pulse. I32 Max\_Speed： The maximum speed of this move profile. Unit： pulse/sec. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Position; I32 Max\_Speed; I32 New\_Position： I32 New\_Speed; I32 ret; // Begin an absolute position move Ret = APS\_absolute\_move\_ovrd (Axis\_ID, Position, Max\_Speed ); // Override during the axis traveling ret = APS\_absolute\_move\_ovrd (Axis\_ID, New\_Position, New\_Speed ); See also： # APS\_home\_escape Support Products：MNET-4XMO-(C), MNET-1XMO, PCI(e)-8154/8158, PCI-8102/PCI-C154(+), AMP-304C # Descriptions： This function is used to leave HOME (ORG) position. Note： 1. Home parameters are depended on the type of procucts; please refer to “axis parameter table” below. 2. Some products haven’t “Home ACC”, “Home VS” and “Home Curve” parameters; they are decided by “PRA\_ACC”, “PRA\_VS” and “PRA\_CURVE” respectively. Please refer to “axis parameter table” below. # Syntax： C/C++： I32 FNTYPE APS\_home\_escape( I32 Axis\_ID ); Visual Basic： APS\_home\_escape (ByVal Axis\_ID As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： //Set homing parameters APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_DIR, 1 ); //Set home direction APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_CURVE, 0 ); //Set acceleration paten (T-curve) APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_ACC, 10000 ); //Set homing acceleration rate APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_VS, 0 ); //Set homing start velocity APS\_set\_axis\_param( Axis\_ID, PRA\_HOME\_VM, 10000 ); //Set homing maximum velocity. APS\_home\_escape(Axis\_ID ); //Escape home …//Check homing done(Motion done) # See also： APS\_set\_axis\_param(); APS\_get\_axis\_param(); APS\_stop\_move(); APS\_emg\_stop() # 7. Multi-axes move trigger & stop # APS\_move\_trigger Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： The function is used to send a trigger to sync all waiting moves. Refer to chapter advanced single move & interpolation. User could set bit 8 of Option parameter by invoking advanced motion functions, so this move will set to waiting state. # Syntax： C/C++ I32 FNTYPE APS\_move\_trigger( I32 Dimension, I32 \*Axis\_ID\_Array ); Visual Basic： APS\_move\_trigger(ByVal Dimension As Long, Axis\_ID\_Array As Long ) As Long # Parameters： I32 Dimension： The dimension of simultaneous axes. I32 \*Axis\_ID\_Array： The axis ID array from 0 to 65535. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Axis\_ID\_Array[2] = { axis\_id0, axis\_id1 }; //Bit 8 set to 1. Be a waiting state. I32 opt = 0x0100; //absolute, wait trigger, Aborting mode ASYNCALL \*wait = NULL; //An absolute move to position 10000 in wating state APS\_ptp( axis\_id0, opt, 10000, wait ); APS\_ptp( axis\_id1, opt, 10000, wait ); // send a trigger to sync all waiting moves APS\_move\_trigger( 2, Axis\_ID\_Array ); // Stop a simultaneous move APS\_stop\_move\_multi ( 2, Axis\_ID\_Array ); See also： APS\_stop\_move\_multi() # APS\_stop\_move\_multi Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to stop multiple axes motion at the same time. Generally speaking, it is used to stop synchronized move. The deceleration profile, defined to be PRA\_SD\_DEC, is set by invoking APS\_set\_axis\_param\_f(). User could refer to axis parameter table for the details. # Syntax： C/C++： I32 FNTYPE APS\_stop\_move\_multi ( I32 Dimension, I32 \*Axis\_ID\_Array ); Visual Basic： APS\_stop\_move\_multi (ByVal Dimension As Long, Axis\_ID\_Array As Long) As Long # Parameters： I32 Dimension： The dimension of stopped axes. I32 \*Axis\_ID\_Array： The axis ID array from 0 to 65535. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Axis\_ID\_Array[2] = { axis\_id0, axis\_id1 }; //Bit 8 set to 1. Be a waiting state. I32 opt = 0x0100; //absolute, wait trigger, Aborting mode ASYNCALL \*wait = NULL; //An absolute move to position 10000 in wating state APS\_ptp( axis\_id0, opt, 10000, wait ); APS\_ptp( axis\_id1, opt, 10000, wait ); // send a trigger to sync all waiting moves APS\_move\_trigger( 2, Axis\_ID\_Array ); // Stop a simultaneous move APS\_stop\_move\_multi ( 2, Axis\_ID\_Array ); See also： APS\_move\_trigger() # APS\_emg\_stop\_multi Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to stop immediately multiple axes motion at the same time. Because the stop function will stop axis accidentally, it will generate an abnormal stop interrupt event rather than normal stop event if interrupt factor is set. The motion status will also be set to an abnormal stop status. The abnormal stop status or event will be clear by next motion command. This function has no deceleration profile. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_emg\_stop\_multi ( I32 Dimension, I32 \*Axis\_ID\_Array ); Visual Basic： APS\_emg\_stop\_multi (ByVal Dimension As Long, Axis\_ID\_Array As Long) As Long # Parameters： I32 Dimension： The dimension of stopped axes. I32 \*Axis\_ID\_Array： The axis ID array from 0 to 65535. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Axis\_ID\_Array[2] = { axis\_id0, axis\_id1 }; //Bit 8 set to 1. Be a waiting state. I32 opt = 0x0100; //absolute, wait trigger, Aborting mode ASYNCALL \*wait = NULL; //An absolute move to position 10000 in wating state APS\_ptp( axis\_id0, opt, 10000, wait ); APS\_ptp( axis\_id1, opt, 10000, wait ); // send a trigger to sync all waiting moves APS\_move\_trigger( 2, Axis\_ID\_Array ); // Emg stop a simultaneous move APS\_emg \_stop\_multi ( 2, Axis\_ID\_Array ); See also： APS\_move\_trigger() # 8. Jog move # APS\_set\_jog\_param Support Products： PCI-8253/56, PCI-8392(H) # Descriptions： This function is used to set jog move relative parameters. The parameters are also available in axis parameter table. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_jog\_param( I32 Axis\_ID, JOG\_DATA \*pStr\_Jog, I32 Mask ); Visual Basic： APS\_set\_jog\_param( ByVal Axis\_ID As Long, pStr\_Jog As JOG\_DATA, ByVal Mask As Long ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. JOG\_DATA \*pStr\_Jog： Structure of jog move parameters. Define in “type\_def.h” typedef struct { I16 i16\_jogMode; // Jog mode. 0：Free running mode, 1：Step mode I16 i16\_dir; // Jog direction. 0：positive, 1：negative direction I16 i16\_accType; // Acceleration and Deceleration pattern 0： T-curve, 1： S-curve I32 i32\_acc; // Acceleration rate ( pulse / sec2 ) I32 i32\_dec; // Deceleration rate ( pulse / sec2 ) I32 i32\_maxSpeed; // A Positive value, maximum velocity. ( pulse / s ) I32 i32\_offset; // A Positive value, step offset. For step jog mode. (pulse) I32 i32\_delayTime; // Delay time, For step jog mode. ( range： 0 \~ 65535 millisecond, align by cycle time) } JOG\_DATA; I32 Mask： Mask parameter setting. Bit format, set 0 will be masked.
Mask itemMask bit number
Acceleration rate (i32_acc)0
Deceleration rate(i32_dec)1
Maximum velocity (i32_maxSpeed)2
Step offset (i32_offset)3
Delay time (i32_delayTime)4
Jog mode (i16_jog mode)5
Jog direction (i16_direction)6
Jog acceleration/deceleration pattern7
# Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “type\_def.h” #include “APS168.h” // Initial cards first… I32 ret; JOG\_DATA jog; jog.i16\_jogMode = 1; //Mask = 0x20 jog.i16\_dir = 0; //Mask = 0x40 ret = APS\_set\_jog\_param( Axis\_ID, &jog, 0x20 | 0x40 ); if( ret != 0 ) //Error # See also： APS\_set\_axis\_param(),APS\_get\_axis\_param(),APS\_get\_jog\_param() # APS\_get\_jog\_param Support Products： PCI-8253/56, PCI-8392(H) # Descriptions： This function is used to get jog move relative parameters. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_jog\_param( I32 Axis\_ID, JOG\_DATA \*pStr\_Jog ); Visual Basic： APS\_get\_jog\_param( ByVal Axis\_ID As Long, pStr\_Jog As JOG\_DATA) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. JOG\_DATA \*pStr\_Jog： Structure of jog move parameters. Define in “type\_def.h” typedef struct { I16 i16\_jogMode; // Jog mode. 0：Free running mode, 1：Step mode I16 i16\_dir; // Jog direction. 0：positive, 1：negative direction I16 i16\_accType; // Acceleration and Deceleration pattern 0： T-curve, 1： S-curve I32 i32\_acc; // Acceleration rate ( pulse / sec2 ) I32 i32\_dec; // Deceleration rate ( pulse / sec2 ) I32 i32\_maxSpeed; // A Positive value, maximum velocity. ( pulse / s ) I32 i32\_offset; // A Positive value, step offset. For step jog mode. (pulse) I32 i32\_delayTime; // Delay time, For step jog mode. ( range： 0 \~ 65535 millisecond, align by cycle time) } JOG\_DATA; # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “type\_def.h” #include “APS168.h” // Initial cards first… I32 ret; JOG\_DATA jog; ret = APS\_get\_jog\_param( Axis\_ID, &jog ); if( ret != 0 ) //Error See also： APS\_set\_axis\_param();APS\_get\_axis\_param();APS\_set\_jog\_param() # APS\_jog\_mode\_switch Support Products： PCI-8253/56, PCI-8392(H) # Descriptions： This function is used to switch specified axis to jog mode. When the axis is in jog mode, it cannot accept other move command except stop command. Users must enable jog move mode before perform jog move. # Syntax： C/C++： I32 FNTYPE APS\_jog\_mode\_switch( I32 Axis\_ID, I32 Turn\_No ); Visual Basic： APS\_jog\_mode\_switch( ByVal Axis\_ID As Long, ByVal Turn\_No As Long ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Turn\_No： 0：Disable jog mode, 1：Enable jog mode. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： // Configure jog move parameter. Ret = APS\_jog\_mode\_switch(Axis\_ID, 1 ); //Turn on jog move mode. // perform jog move …(APS\_jog\_start) ret = APS\_jog\_mode\_switch(Axis\_ID, 0 ); //Turn off jog move mode. // perform other move commands # See also： APS\_set\_jog\_param(); APS\_get\_jog\_param();APS\_jog\_start() # APS\_jog\_start Support Products： PCI-8253/56, PCI-8392(H), EMX-100 , PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to start / stop a jog move. Before start a jog move, you must enable the axis to jog mode. For EMX-100 , this function is used to start / stop a jog move. The axis parameters shown below are used to configure speed profile of Jog motion.It only support s-factor = 0 (T-Curve).
Symbol defineParamNoDescription
PRA_JG_DIR0x41(I32) Jog move direction[0 : Positive direction, 1 : Negative direction]
PRA_JG_ACC0x43Jog move acceleration
PRA_JG_VM0x45Jog move max velocity
PRA_JG_STOP0x4CJog stop mode
For PCI-8254/58 / AMP-204/8C and PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT,following parameters are shown to configure Jog parameter： The details refer to axis parameter table.
Symbol defineParamNoDescription
PRA_JG_MODE0x40(I32) Jog mode [0 : Continuous mode, 1 : Step mode]
PRA_JG_DIR0x41(I32) Jog move direction[0 : Positive direction, 1 : Negative direction]
PRA_JG_SF0x42(F64) Jog S factor [ 0 ~ 1 ]
PRA_JG_ACC0x43(F64) Jog move acceleration [ value > 0 ]
PRA_JG_DEC0x44(F64) Jog move deceleration [ value > 0 ]
PRA_JG_VM0x45(F64) Jog move max velocity [ value > 0 ]
PRA_JG_OFFSET0x46(F64) Jog offset, for step mode [ value >= 0 ]
PRA_JG_DELAY0x47(I32) Jog delay, for step mode, 267microsecond [ 0 ~ 10,000,000 ]
PRA_JG_MAP_DI_EN0x48(I32) Enable Digital input map to jog command signal
PRA_JG_P_JOG_DI0x49(I32) Mapping configuration for positive jog and digital input.
PRA_JG_N_JOG_DI0x4A(I32) Mapping configuration for negative jog and digital input.
PRA_JG_JOG_DI0x4B(I32) Mapping configuration for jog and digital input.
# Syntax： C/C++： I32 FNTYPE APS\_jog\_start( I32 Axis\_ID, I32 STA\_On ); Visual Basic： APS\_jog\_start( ByVal Axis\_ID As Long, ByVal STA\_On As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 STA\_On： 1：STA signal on, 0：STA signal off. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example1： Below example is for PCI-8253/56, PCI-8392(H) // Configure jog move parameter. Ret = APS\_jog\_mode\_switch(Axis\_ID, 1 ); //Turn on jog move mode. // perform jog move …(APS\_jog\_start) APS\_jog\_start( Axis\_ID,1 ); //STA signal ON APS\_jog\_start(Axis\_ID, 0); //STA signal OFF ret = APS\_jog\_mode\_switch(Axis\_ID, 0 ); //Turn off jog move mode. // perform other move commands # Example2： Below example is for EMX-100 // Configure jog move parameter. APS\_set\_axis\_param( Axis\_ID, PRA\_JG\_DIR, 1 ); //Set jog to negative direction APS\_set\_axis\_param( Axis\_ID, PRA\_JG\_ACC, 100000 ); //Set jog move acceleration // perform jog move …(APS\_jog\_start) APS\_jog\_start( Axis\_ID,1 ); //STA signal ON APS\_jog\_start(Axis\_ID, 0); //STA signal OFF # Example3： Below example is for PCI-8254/58 / AMP-204/8C or PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT // Configure jog move parameter. APS\_set\_axis\_param( Axis\_ID, PRA\_JG\_MODE, 0 ); //Set to continuous mode APS\_set\_axis\_param( Axis\_ID, PRA\_JG\_DIR, 1 ); //Set jog to negative direction APS\_set\_axis\_param\_f( Axis\_ID, PRA\_JG\_ACC, 100000.0 ); //Set jog move acceleration // perform jog move …(APS\_jog\_start) APS\_jog\_start( Axis\_ID,1 ); //STA signal ON APS\_jog\_start(Axis\_ID, 0); //STA signal OFF # See also： APS\_set\_jog\_param(); APS\_get\_jog\_param(); APS\_jog\_mode\_switch(); # 9. Interpolation # APS\_absolute\_linear\_move Support Products： PCI-8253/56,PCI-8392(H) , MNET-4XMO-(C),HSL-4XMO,PCI(e)-8154/8158, PCI-8102/PCI-C154(+), EMX-100, PCI-8254/58 / AMP-204/8C, AMP-104C, AMP-304C # Descriptions： This function is used to start an absolute linear interpolation positioning motion. Although there is maximum speed setting in function parameter, the traveling distance and accelerating rate may not be enough due to user’s setting to reach the maximum speed. The speed profile’s acceleration and deceleration rate and curve are set by axis parameter function. Because the speed parameter is in vector direction, this function will take the master axis’s acceleration and deceleration time constant to calculate. The master axis is the minimum axis number that user perform an interpolation. This function is ‘fire-and-forget’ type. That means user’s program or procedure will not be pended during axis traveling. Users must use motion status checking function or interrupt event waiting function to wait it done. During the axis traveling, users can start a new move command including stop command to override the previous one. The axis will be switched to new command immediately according to new setting of target position, new speed. The overridden command must have the same dimension and axis ID of previous one. These two commands can’t be overridden by other motion modes like home operation. Users must stop axis motion before switching to those modes mentioned above. Note： The axes specified in Axis\_ID\_Array must be of the same card. For EMX-100 , this function is used for linear interpolation positioning motion using absolute postion. It only supports two axes motion at the same time with the same device. The master axis is defined as the first axis ID that user gives for interpolation. Two speed profile parameters travel distance and maximum velocity are given by user, and other parameters like start velocity, acceleration rate, deceleration rate and s-factor are configurable by master axis’s parameter table. The actual command velocity may not reach maximum velocity due to small traveling distance or accelerating rate are given. This function uses ‘fire-and-forget’ mode to avoid blocking user’s program or procedure during axis traveling. Users can read motion status MDN to check the motion is completed (MDN = 1) or not (MDN = 0). Except stop command, users CAN NOT start any new move command before previous motion is completed. Note： The axes specified in Axis\_ID\_Array must be of the same card. Syntax： C/C++ : I32 FNTYPE APS_absolute_linear_move( I32 Dimension, I32 *Axis_ID_Array, I32 *Position_Array, I32 Max_Linear_Speed ); Visual Basic : APS_absolute_linear_move( ByVal Dimension As Long, Axis_ID_Array As Long, Position_Array As Long, ByVal Max_Linear_Speed As Long ) As Long Parameters： I32 Dimension : The dimension of interpolation axes. (2~4 axes) I32 *Axis_ID_Array : The axis ID array from 0 to 65535. For EMX-100 : I32 *Axis_ID_Array : The Axis ID array from 0 to 65535. First element of array is master and puts it in ascending order. For instance Axis_ID_Array[2] = {1,3} or Axis_ID_Array[2] = {0,3} or Axis_ID_Array[2] = {0,1} or Axis_ID_Array[2] = {2,3} I32 *Position_Array : Absolute position array. (unit : pulse) I32 Max_Linear_Speed : Maximum linear interpolation speed (unit : pulse/sec) For EMX-100 : I32 Max_Linear_Speed : Maximum linear interpolation speed; Its range is 1 ~ 8,000,000 (Unit : pulse/sec) Return Values： I32 Error code : Please refer to APS Functions Return Code. Example： //...Initial card I32 Dimension = 4; I32 Master_Axis_ID = 1; //Master axis I32 Axis_ID_Array[4] = {1, 2, 3, 4}; //Axis ID 1 is master axis. I32 Position_Array [4] = {10000, 20000, 30000, 40000}; I32 Max_Linear_Speed = 10000; I32 Ret; APS_set_axis_param(Master_Axis_ID, PRA_CURVE, 0); //Set T-curve APS_set_axis_param(Master_Axis_ID, PRA_ACC, 100000); //Set acceleration APS_set_axis_param(Master_Axis_ID, PRA_DEC, 100000); //Set deceleration Ret = APS_absolute_linear_move ( Dimension, Axis_ID_Array, Position_Array, Max_Linear_Speed ); ... See also： APS\_relative\_linear\_move() # APS\_relative\_linear\_move Support Products： PCI-8253/56, PCI-8392(H), MNET-4XMO-(C),HSL-4XMO, PCI(e)-8154/8158, PCI-8102/PCI-C154(+), EMX-100 , PCI-8254/58 / AMP-204/8C, AMP-104C, AMP-304C # Descriptions： This function is used to start a relative linear interpolation positioning motion. Although there is maximum speed setting in function parameter, the traveling distance and accelerating rate may not be enough due to user’s setting to reach the maximum speed. The speed profile’s acceleration and deceleration rate and curve are set by axis parameter function. Because the speed parameter is in vector direction, this function will take the master axis’s acceleration and deceleration time constant to calculate. The master axis is the minimum axis number that user perform an interpolation. This function is ‘fire-and-forget’ type. That means user’s program or procedure will not be pended during axis traveling. Users must use motion status checking function or interrupt event waiting function to wait it done. During the axis traveling, users can start a new move command including stop command to override the previous one. The axis will be switched to new command immediately according to new setting of target position, new speed. The overridden command must have the same dimension and axis ID of previous one. These two commands can’t be overridden by other motion modes like home operation. Users must stop axis motion before switching to those modes mentioned above. Note： The axes specified in Axis\_ID\_Array must be of the same card. For EMX-100 , this function is used for linear interpolation positioning motion using relative postion.It only supports two axes motion at the same time with the same device. The master axis is defined as the first axis ID that user gives for interpolation. Two speed profile parameters travel distance and maximum velocity are given by user, and other parameters like start velocity, acceleration rate, deceleration rate and s-factor are configurable by master axis’s parameter table. The actual command 273velocity may not reach maximum velocity due to small traveling distance or accelerating rate are given. This function uses ‘fire-and-forget’ mode to avoid blocking user’s program or procedure during axis traveling. Users can read motion status MDN to check the motion is completed (MDN = 1) or not (MDN = 0). Except stop command, users CAN NOT start any new move command before previous motion is completed. Note： The axes specified in Axis\_ID\_Array must be of the same card. Syntax： C/C++： I32 FNTYPE APS\_relative\_linear\_move( I32 Dimension, I32 \*Axis\_ID\_Array, I32 \*Distance\_Array, I32 Max\_Linear\_Speed ); Visual Basic： APS\_relative\_linear\_move( ByVal Dimension As Long, Axis\_ID\_Array As Long, Distance\_Array As Long, ByVal Max\_Linear\_Speed As Long) As Long # Parameters： I32 Dimension： The dimension of interpolation axes. (2\~4 axes) I32 \*Axis\_ID\_Array： The Axis ID array from 0 to 65535. For EMX-100： The Axis ID array from 0 to 65535. First element of array is master and puts it in ascending order. For instance Axis\_ID\_Array[2] = {1,3} or Axis\_ID\_Array[2] = {2,3} or Axis\_ID\_Array[2] = {0,1} I32 \*Distance\_Array： Relative distance array. (unit： pulse) I32 Max\_Linear\_Speed： Maximum linear interpolation speed (unit： pulse/sec) For EMX-100： I32 Max\_Linear\_Speed： Maximum linear interpolation speed; Its range is 1 \~ 8,000,000 (Unit： pulse/sec) # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： //…Initial card I32 Dimension = 4; I32 Master\_Axis\_ID = 0; I32 Axis\_ID\_Array[4] = {0, 1, 2, 3}; //Axis ID 0 is master axis. I32 Distance\_Array[4] = {10000, 20000, 30000, 40000 }; I32 Max\_Linear\_Speed = 10000; I32 Ret; APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_CURVE, 1 ); //Set S-curve APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_ACC, 100000 ); //Set acceleration APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_DEC, 100000 ); //Set deceleration Ret = APS\_relative\_linear\_move( Dimension, Axis\_ID\_Array, Distance\_Array, Max\_Linear\_Speed ); # See also： APS\_relative\_linear\_move();APS\_set\_axis\_param(); # APS\_absolute\_arc\_move Support Products： PCI-8253/56, PCI-8392(H) , MNET-4XMO-(C) , HSL-4XMO, PCI(e)-8154/8158, PCI-8102/PCI-C154(+), PCI-8254/58 / AMP-204/8C, AMP-304C # Descriptions： This function is used to start an absolute circular interpolation positioning motion. User must specify absolute center position and traveling angle for circular interpolation. The speed profile’s acceleration and deceleration rate are set by axis parameter function. The following axis parameter should be setting before you calling this function. PRA\_CURVE PRA\_ACC PRA\_DEC PRA\_VS PRA\_VE The details of parameters please refer the axis parameter table.
Symbol defineParamNoDescription
PRA_SF0x20Move S-factor
PRA_ACC0x21Acceleration rate
PRA_DEC0x22Deceleration rate
PRA_VS0x23Start velocity
PRA_VM0x24Maximum velocity
PRA_VE0x25End velocity
Although there is maximum speed setting in function parameter, the traveling distance and accelerating rate may not be enough due to user’s setting to reach the maximum speed. Because the speed parameter is in vector direction (Tangent to the circular), this function will take the master axis’s acceleration and deceleration time constant to calculate. The master axis is the minimum axis number that user perform an interpolation. For example, Axis ID 2 and 3 are performing a circular interpolation. The Axis ID 2 is the master axis. This function is ‘fire-and-forget’ type. That means user’s program or procedure will not be pended during axis traveling. Users must use motion status checking function or interrupt event waiting function to wait it done. The motion status “circular interpolation signal (CIP)” of each axis performing a circular interpolation will be turn on when command is started and will be turned off at command is finished. If circular interpolation is stop normally, the normal stop signal (NSTP) will be turned on. On the contrary, if circular interpolation is stopped abnormally (such as ALM, EMG, SEMG and so on is turned on), abnormal stop signal (ASTP) will be turned on. During the axis traveling, users can start a new move command including stop command to override the previous one (The dimension and Axis\_ID\_Array must be the same). The axis will be switched to new command immediately according to new setting of target center position, new speed profile. This command can’t be overridden by other motion modes like home operation. Users must stop axis motion before switching to those modes mentioned above. Note： The 2 axes specified in Axis\_ID\_Array must be of the same card. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_absolute\_arc\_move( I32 Dimension, I32 \*Axis\_ID\_Array, I32 \*Center\_Pos\_Array, I32 Max\_Arc\_Speed, I32 Angle ); Visual Basic： APS\_absolute\_arc\_move( ByVal Dimension As Long, Axis\_ID\_Array As Long, Center\_Pos\_Array As Long, ByVal Max\_Arc\_Speed As Long, ByVal Angle As Long )As Long # Parameters： I32 Dimension： The dimension of interpolation axes. (The maximum dimensions refer to product specification) I32 \*Axis\_ID\_Array： The Axis ID array from 0 to 65535. I32 \*Center\_Pos\_Array： Absolute circular center position. Unit： pulse. I32 Max\_Arc\_Speed： Maximum circular interpolation speed (Circular tangent speed). Unit： pulse/sec I32 Angle： Travel angle. Value range： -360 \~360 degree. Positive for counterclockwise. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Dimension = 2; I32 Axis\_ID\_Array[2] = { 2, 4 }; //Axis\_ID 2 is the master axis. I32 Master\_Axis\_ID = 2; //Axis\_ID 2 is the master axis. I32 Center\_Pos\_Array[2] = {100000, 0}; I32 Max\_Arc\_Speed = 10000; // pulse/sec I32 Angle = -180; // clockwise 180 degree. I32 Ret; //Return code. ```txt //... ``` APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_CURVE, 1 ); //Set S-curve APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_ACC, 100000 ); //Set acceleration APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_DEC, 100000 ); //Set deceleration Ret = APS\_absolute\_arc\_move( Dimension, Axis\_ID\_Array, Center\_Pos\_Array, Max\_Arc\_Speed, Angle ); //Perform a circular interpolation # See also： APS\_relative\_arc\_move();APS\_set\_axis\_param();APS\_get\_axis\_param (); APS\_motion\_status();APS\_stop\_move();APS\_emg\_stop() # APS\_relative\_arc\_move Support Products： PCI-8253/56, PCI-8392(H) , MNET-4XMO-(C) , HSL-4XMO, PCI(e)-8154/8158, PCI-8102/PCI-C154(+), PCI-8254/58 / AMP-204/8C, AMP-304C # Descriptions： This function is used to start an relative circular interpolation positioning motion. User must specified a center position relative current commend position and traveling angle for circular interpolation. The speed profile’s acceleration and deceleration rate and curve are set by axis parameter function. The following axis parameter should be setting before you calling this function. PRA\_CURVE PRA\_ACC PRA\_DEC PRA\_VS PRA\_VE The details of parameters please refer the axis parameter table.
Symbol defineParamNoDescription
PRA_SF0x20Move S-factor
PRA_ACC0x21Acceleration rate
PRA_DEC0x22Deceleration rate
PRA_VS0x23Start velocity
PRA_VM0x24Maximum velocity
PRA_VE0x25End velocity
Although there is maximum speed setting in function parameter, the traveling distance and accelerating rate may not be enough due to user’s setting to reach the maximum speed. Because the speed parameter is in vector direction(tangent to the circular), this function will take the master axis’s acceleration and deceleration time constant to calculate. The master axis is the minimum axis number that user perform an interpolation. For example, Axis ID 2 and 3 are performing a circular interpolation. Therefore, the Axis ID 2 is the master axis. This function is ‘fire-and-forget’ type. That means user’s program or procedure will not be pended during axis traveling. Users must use motion status checking function or interrupt event waiting function to wait it done. Motion status： in circular interpolation signal (CIP) will be turn on when it start and will be turn off at command is finished. If circular interpolation is stop normally, the normal stop signal (NSTP) will be turn on. On the contrary, circular interpolation is stopped abnormally ( ALM, EMG, SEMG, and so on), abnormal stop signal (ASTP) will be turn on. During the axis traveling, users can start a new move command including stop command to override the previous one (The dimension and Axis\_ID\_Array must be the same). The axis will be switched to new command immediately according to new setting of target center position, new speed profile. This command can’t be overridden by other motion modes like home operation. Users must stop axis motion before switching to those modes mentioned above. Note： The 2 axes specified in Axis\_ID\_Array must be of the same card. # Syntax： C/C++： I32 FNTYPE APS\_relative\_arc\_move( I32 Dimension, I32 \*Axis\_ID\_Array, I32 \*Center\_Offset\_Array, I32 Max\_Arc\_Speed, I32 Angle ); Visual Basic： APS\_relative\_arc\_move( ByVal Dimension As Long, Axis\_ID\_Array As Long, Center\_Offset\_Array As Long, ByVal Max\_Arc\_Speed As Long, ByVal Angle As Long ) As Long # Parameters： I32 Dimension： The dimension of interpolation axes. (The maximum dimensions refer to product specification) I32 \*Axis\_ID\_Array： The Axis ID array from 0 to 65535. I32 \*Center\_Offset\_Array： circular center position relative to current command position. Unit： pulse I32 Max\_Arc\_Speed： Maximum circular interpolation speed (Circular tangent speed). Unit： pulse/sec I32 Angle： Travel angle. Value range： -360 \~360 degree. Positive for counterclockwise. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Dimension = 2; I32 Axis\_ID\_Array[2] = { 1, 3}; //Axis\_ID 1 is the master axis. I32 Master\_Axis\_ID = 1; //Axis\_ID 1 is the master axis. I32 Center\_Offset\_Array [2] = {300000, 0}; I32 Max\_Arc\_Speed = 20000; // pulse/sec I32 Angle = 90; // counterclockwise 90 degree. I32 Ret; //Return code. //… APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_CURVE, 1 ); //Set S-curve APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_ACC, 100000 ); //Set acceleration APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_DEC, 100000 ); //Set deceleration Ret = APS\_relative\_arc\_move( Dimension, Axis\_ID\_Array, Center\_Offset\_Array, Max\_Arc\_Speed, Angle ); //Perform a circular interpolation # See also： APS\_absolute\_arc\_move ();APS\_set\_axis\_param ();APS\_get\_axis\_param (); APS\_motion\_status(); APS\_stop\_move();APS\_emg\_stop() # APS\_absolute\_arc\_move\_3pe Support Products： PCI-8253/56 # Descriptions： This function is used to start an absolute circular interpolation positioning motion. User must specify absolute pass position and end position for circular interpolation. The speed profile’s acceleration and deceleration rate are set by axis parameter function. The following axis parameter should be setting before you calling this function. PRA\_CURVE PRA\_ACC PRA\_DEC PRA\_VS PRA\_VE The details of parameters please refer the axis parameter table. Although there is maximum speed setting in function parameter, the traveling distance and accelerating rate may not be enough due to user’s setting to reach the maximum speed. Because the speed parameter is in vector direction (Tangent to the circular), this function will take the master axis’s acceleration and deceleration time constant to calculate. The master axis is the minimum axis number that user perform an interpolation. For example, Axis ID 2 and 3 are performing a circular interpolation. The Axis ID 2 is the master axis. This function is ‘fire-and-forget’ type. That means user’s program or procedure will not be pended during axis traveling. Users must use motion status checking function or interrupt event waiting function to wait it done. The motion status “circular interpolation signal (CIP)” of each axis performing a circular interpolation will be turn on when command is started and will be turned off at command is finished. If circular interpolation is stop normally, the normal stop signal (NSTP) will be turned on. On the contrary, if circular interpolation is stopped abnormally (such as ALM, EMG, SEMG and so on is turned on), abnormal stop signal (ASTP) will be turned on. During the axis traveling, users can start a new move command including stop command to override the previous one (The dimension and Axis\_ID\_Array must be the same). The axis will be switched to new command immediately according to new setting of target center position, new speed profile. This command can’t be overridden by other motion modes like home operation. Users must stop axis motion before switching to those modes mentioned above. # Note： 1. This mode support 2D and 3D circular interpolation motion. 2. The 2 or 3 axes specified in Axis\_ID\_Array must be of the same card. 3. Circular interpolation by pass and end point mode do not support full circle. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_absolute\_arc\_move\_3pe( I32 Dimension, I32 \*Axis\_ID\_Array, I32 \*Pass\_Pos\_Array, I32 \*End\_Pos\_Array, I32 Max\_Arc\_Speed ); Visual Basic： APS\_absolute\_arc\_move\_3pe( ByVal Dimension As Long, Axis\_ID\_Array As Long, Pass\_Pos\_Array As Long, End\_Pos\_Array As Long, ByVal Max\_Arc\_Speed As Long )As Long # Parameters： I32 Dimension： The dimension of interpolation axes. (The maximum dimension is support to 3D) I32 \*Axis\_ID\_Array： The Axis ID array from 0 to 65535. I32 \*Pass\_Pos\_Array： Absolute pass position. Unit： pulse. I32 \*End\_Pos\_Array： Absolute end position. Unit： pulse. I32 Max\_Arc\_Speed： Maximum circular interpolation speed (Circular tangent speed). Unit： pulse/sec # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Dimension = 3; I32 Axis\_ID\_Array[3] = { 2, 3, 4 }; //Axis\_ID 2 is the master axis. I32 Master\_Axis\_ID = 2; //Axis\_ID 2 is the master axis. I32 Pass\_Pos\_Array[3] = {50000, 50000, 50000}; I32 End\_Pos\_Array[3] = {100000, 100000, 0} I32 Max\_Arc\_Speed = 400000; // pulse/sec I32 Ret; //Return code. ```txt //... ``` APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_CURVE, 1 ); //Set S-curve APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_ACC, 1000000 ); //Set acceleration APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_DEC, 1000000 ); //Set deceleration Ret = APS\_absolute\_arc\_move\_3pe( Dimension, Axis\_ID\_Array, Pass\_Pos\_Array, End\_Pos\_Array, Max\_Arc\_Speed ); //Perform a circular interpolation # See also： APS\_absolute\_arc\_move();APS\_relative\_arc\_move();APS\_relative\_arc\_move\_3pe(); APS\_set\_axis\_param();APS\_get\_axis\_param();APS\_motion\_status();APS\_stop\_move(); APS\_emg\_stop() # APS\_relative\_arc\_move\_3pe Support Products： PCI-8253/56 # Descriptions： This function is used to start a relative circular interpolation positioning motion. User must specify pass position and end position relative current commend position for circular interpolation. The speed profile’s acceleration and deceleration rate and curve are set by axis parameter function. The following axis parameter should be setting before you calling this function. PRA\_CURVE PRA\_ACC PRA\_DEC PRA\_VS PRA\_VE The details of parameters please refer the axis parameter table. Although there is maximum speed setting in function parameter, the traveling distance and accelerating rate may not be enough due to user’s setting to reach the maximum speed. Because the speed parameter is in vector direction (tangent to the circular), this function will take the master axis’s acceleration and deceleration time constant to calculate. The master axis is the minimum axis number that user perform an interpolation. For example, Axis ID 2 and 3 are performing a circular interpolation. Therefore, the Axis ID 2 is the master axis. This function is ‘fire-and-forget’ type. That means user’s program or procedure will not be pended during axis traveling. Users must use motion status checking function or interrupt event waiting function to wait it done. Motion status： in circular interpolation signal (CIP) will be turn on when it start and will be turn off at command is finished. If circular interpolation is stop normally, the normal stop signal (NSTP) will be turn on. On the contrary, circular interpolation is stopped abnormally ( ALM, EMG, SEMG, and so on), abnormal stop signal (ASTP) will be turn on. During the axis traveling, users can start a new move command including stop command to override the previous one (The dimension and Axis\_ID\_Array must be the same). The axis will be switched to new command immediately according to new setting of target center position, new speed profile. This command can’t be overridden by other motion modes like home operation. Users must stop axis motion before switching to those modes mentioned above. # Note： 1. This mode support 2D and 3D circular interpolation motion. 2. The 2 or 3 axes specified in Axis\_ID\_Array must be of the same card. 3. Circular interpolation by pass and end point mode do not support full circle. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_relative\_arc\_move\_3pe( I32 Dimension, I32 \*Axis\_ID\_Array, I32 \*Pass\_PosOffset\_Array, I32 \*End\_PosOffset\_Array, I32 Max\_Arc\_Speed ); Visual Basic： APS\_relative\_arc\_move\_3pe( ByVal Dimension As Long, Axis\_ID\_Array As Long, Pass\_PosOffset\_Array As Long, End\_PosOffset\_Array As Long, ByVal Max\_Arc\_Speed As Long ) As Long # Parameters： I32 Dimension： The dimension of interpolation axes. (The maximum dimension is support to 3D). I32 \*Axis\_ID\_Array： The Axis ID array from 0 to 65535. I32 \*Pass\_PosOffset\_Array： circular pass position relative to current command position. Unit： pulse I32 \*End\_PosOffset\_Array： circular end position relative to current command position. Unit： pulse I32 Max\_Arc\_Speed： Maximum circular interpolation speed (Circular tangent speed). Unit： pulse/sec # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Dimension = 3; I32 Axis\_ID\_Array[3] = { 0, 1, 2}; //Axis\_ID 0 is the master axis. I32 Master\_Axis\_ID = 0; //Axis\_ID 0 is the master axis. I32 Pass\_PosOffset\_Array [3] = {50000, 50000, 50000}; I32 End\_PosOffset\_Array[3] = {50000, 50000, -50000}; I32 Max\_Arc\_Speed = 200000; // pulse/sec I32 Ret; //Return code. ```txt //... ``` APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_CURVE, 1 ); //Set S-curve APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_ACC, 1000000 ); //Set acceleration APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_DEC, 1000000 ); //Set deceleration Ret = APS\_relative\_arc\_move\_3pe( Dimension, Axis\_ID\_Array, Pass\_PosOffset\_Array, End\_PosOffset\_Array, Max\_Arc\_Speed ); //Perform a circular interpolation # See also： APS\_relative\_arc\_move();APS\_absolute\_arc\_move();APS\_absolute\_arc\_move\_3pe(); APS\_set\_axis\_param();APS\_get\_axis\_param();APS\_motion\_status();APS\_stop\_move();APS\_emg\_stop() # APS\_absolute\_helix\_move Support Products： PCI-8253/56 # Descriptions： This function is used to start an absolute helical interpolation positioning motion. User must specify absolute circle center position (2D), pitch length, total screw height, and move direction for helical interpolation. The speed profile’s acceleration and deceleration rate are set by axis parameter function. The following axis parameter should be setting before you calling this function. PRA\_CURVE PRA\_ACC PRA\_DEC PRA\_VS PRA\_VE The details of parameters please refer the axis parameter table. Although there is maximum speed setting in function parameter, the traveling distance and accelerating rate may not be enough due to user’s setting to reach the maximum speed. Because the speed parameter is in vector direction (Tangent to the circular), this function will take the master axis’s acceleration and deceleration time constant to calculate. The master axis is the minimum axis number that user perform an interpolation. For example, Axis ID 2 and 3 are performing a circular interpolation and synchronized linear travel in axis ID 4. The Axis ID 2 is the master axis. This function is ‘fire-and-forget’ type. That means user’s program or procedure will not be pended during axis traveling. If helical interpolation is stop normally, the normal stop signal (NSTP) will be turned on. On the contrary, if helical interpolation is stopped abnormally (such as ALM, EMG, SEMG and so on is turned on), abnormal stop signal (ASTP) will be turned on. During the axis traveling, users can start a new move command including stop command to override the previous one (The dimension and Axis\_ID\_Array must be the same). The axis will be switched to new command immediately according to new setting of target center position, new speed profile. This command can’t be overridden by other motion modes like home operation. Users must stop axis motion before switching to those modes mentioned above. # Note： 1. Helical interpolation just supports 3D coordinate space. 2. The last axis number in Axis ID array must be linear axis. 3. Circle center position just support 2D # Syntax： C/C++： I32 FNTYPE APS\_absolute\_helix\_move( I32 Dimension, I32 \*Axis\_ID\_Array, I32 \*Center\_Pos\_Array, I32 Max\_Arc\_Speed, I32 Pitch, I32 TotalHeight, I32 CwOrCcw ); Visual Basic： APS\_absolute\_helix\_move( ByVal Dimension As Long, Axis\_ID\_Array As Long, Center\_Pos\_Array As Long, ByVal Max\_Arc\_Speed As Long, ByVal Pitch As Long, ByVal TotalHeight As Long, ByVal CwOrCcw As Long )As Long # Parameters： I32 Dimension： The dimension of interpolation axes. (Just support 3D) I32 \*Axis\_ID\_Array： The Axis ID array from 0 to 65535. I32 \*Center\_Pos\_Array： Absolute pass position. Unit： pulse. I32 Max\_Arc\_Speed： Maximum circular interpolation speed (Circular tangent speed). Unit： pulse/sec I32 Pitch： The pitch of helix. Unit： pulse I32 TotalHeight： The depth of helix. Unit： pulse I32 CwOrCcw： Move direction CwOrCcw = 0 --- Clockwise CwOrCcw = 1---- Counterclockwise # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Dimension = 3; I32 Axis\_ID\_Array[3] = { 2, 3, 4 }; //Axis\_ID 2 is the master axis. I32 Master\_Axis\_ID = 2; //Axis\_ID 2 is the master axis. I32 Center\_Pos\_Array[2] = {50000, 0}; I32 Max\_Arc\_Speed = 400000; // pulse/sec I32 Pitch = 2500; I32 TotalHeight = 5000; I32 CwOrCcw = 1; // Counterclockwise I32 Ret; //Return code. //… APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_CURVE, 1 ); //Set S-curve APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_ACC, 1000000 ); //Set acceleration APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_DEC, 1000000 ); //Set deceleration Ret = APS\_absolute\_helix\_move ( Dimension, Axis\_ID\_Array, Center\_Pos\_Array, Max\_Arc\_Speed , Pitch, TotalHeight, CwOrCcw ); //Perform a helical interpolation # See also： APS\_relative\_helix\_move();APS\_set\_axis\_param ();APS\_get\_axis\_param (); APS\_motion\_status();APS\_stop\_move(), APS\_emg\_stop() # APS\_relative\_helix\_move Support Products： PCI-8253/56 # Descriptions： This function is used to start a relative helical interpolation positioning motion. User must specify circle center position (2D) relative current command position, pitch length, total screw height, and move direction for helical interpolation. The speed profile’s acceleration and deceleration rate and curve are set by axis parameter function. The following axis parameter should be setting before you calling this function. PRA\_CURVE PRA\_ACC PRA\_DEC PRA\_VS PRA\_VE The details of parameters please refer the axis parameter table. Although there is maximum speed setting in function parameter, the traveling distance and accelerating rate may not be enough due to user’s setting to reach the maximum speed. Because the speed parameter is in vector direction (Tangent to the circular), this function will take the master axis’s acceleration and deceleration time constant to calculate. The master axis is the minimum axis number that user perform an interpolation. For example, Axis ID 2 and 3 are performing a circular interpolation and synchronized linear travel in axis ID 4. The Axis ID 2 is the master axis. This function is ‘fire-and-forget’ type. That means user’s program or procedure will not be pended during axis traveling. If helical interpolation is stop normally, the normal stop signal (NSTP) will be turned on. On the contrary, if helical interpolation is stopped abnormally (such as ALM, EMG, SEMG and so on is turned on), abnormal stop signal (ASTP) will be turned on. During the axis traveling, users can start a new move command including stop command to override the previous one (The dimension and Axis\_ID\_Array must be the same). The axis will be switched to new command immediately according to new setting of target center position, new speed profile. This command can’t be overridden by other motion modes like home operation. Users must stop axis motion before switching to those modes mentioned above. # Note： 1. Helical interpolation just supports 3D coordinate space. 2. The last axis number in Axis ID array must be linear axis. 3. Circle center position just support 2D # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_relative\_helix\_move( I32 Dimension, I32 \*Axis\_ID\_Array, I32 \*Center\_PosOffset\_Array, I32 Max\_Arc\_Speed, I32 Pitch, I32 TotalHeight, I32 CwOrCcw ); Visual Basic： APS\_relative\_helix\_move( ByVal Dimension As Long, Axis\_ID\_Array As Long, Center\_PosOffset\_Array As Long, ByVal Max\_Arc\_Speed As Long, ByVal Pitch As Long, ByVal TotalHeight As Long, ByVal CwOrCcw As Long )As Long # Parameters： I32 Dimension： The dimension of interpolation axes. (Just support 3D) I32 \*Axis\_ID\_Array： The Axis ID array from 0 to 65535. I32 \*Center\_PosOffset\_Array： Circular center position relative to current command position. Unit：pulse I32 Max\_Arc\_Speed： Maximum circular interpolation speed (Circular tangent speed). Unit： pulse/sec I32 Pitch： The pitch of helix. Unit： pulse I32 TotalHeight： The depth of helix. Unit： pulse I32 CwOrCcw： Move direction $$ \mathrm{CwOrCcw} = 0 \dashrightarrow \text { Clockwise } $$ $$ \text { CwOrCcw } = 1 -- - - \rightarrow \text { Counterclockwise } $$ # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Dimension = 3; I32 Axis\_ID\_Array[3] = { 2, 3, 4 }; //Axis\_ID 2 is the master axis. I32 Master\_Axis\_ID = 2; //Axis\_ID 2 is the master axis. I32 Center\_PosOffset\_Array[2] = {50000, 0}; I32 Max\_Arc\_Speed = 400000; // pulse/sec I32 Pitch = 2500; I32 TotalHeight = 5000; I32 CwOrCcw = 1; // Counterclockwise I32 Ret; //Return code. //… APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_CURVE, 1 ); //Set S-curve APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_ACC, 1000000 ); //Set acceleration APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_DEC, 1000000 ); //Set deceleration Ret = APS\_absolute\_helix\_move ( Dimension, Axis\_ID\_Array, Center\_PosOffset\_Array, Max\_Arc\_Speed , Pitch, TotalHeight, CwOrCcw ); //Perform a helical interpolation # See also： APS\_absolute\_helix\_move();APS\_set\_axis\_param(); APS\_get\_axis\_param();APS\_motion\_status();APS\_stop\_move();APS\_emg\_stop() # APS\_absolute\_helical\_move Support Products： PCI(e)-8154/8158, AMP-304C # Descriptions： This function is used to start an absolute helical interpolation positioning motion. User must specify absolute circle center position (2D), absolute end position, pitch, and move direction for helical interpolation. The speed profile’s acceleration and deceleration rate are set by axis parameter function. The following axis parameter should be setting before you calling this function. PRA\_CURVE PRA\_ACC PRA\_DEC PRA\_VS PRA\_VE The details of parameters please refer the axis parameter table. Although there is maximum speed setting in function parameter, the traveling distance and accelerating rate may not be enough due to user’s setting to reach the maximum speed. Because the speed parameter is in vector direction (Tangent to the circular), this function will take the master axis’s acceleration and deceleration time constant to calculate. The master axis is the minimum axis number that user perform an interpolation. For example, Axis ID 0 and 1 are performing a circular interpolation and synchronized linear travel in axis ID 2. The Axis ID 0 is the master axis. This function is ‘fire-and-forget’ type. That means user’s program or procedure will not be pended during axis traveling. If helical interpolation is stop normally, the normal stop signal (NSTP) will be turned on. On the contrary, if helical interpolation is stopped abnormally (such as ALM, EMG, SEMG and so on is turned on), abnormal stop signal (ASTP) will be turned on. # Syntax： C/C++： I16 APS\_absolute\_helical\_move( I32 \*Axis\_ID\_Array, I32 \*Center\_Pos\_Array, I32 \*End\_Pos\_Array, I32 Pitch, I32 Dir, I32 Max\_Speed ); Visual Basic： APS\_absolute\_helical\_move( Axis\_ID\_Array As Long, Center\_Pos\_Array As Long, End\_Pos\_Array As Long, ByVal Pitch As Long, ByVal Dir As Long, ByVal Max\_Speed As Long )As Long # Parameters： I32 \*Axis\_ID\_Array： The Axis ID array. Each helical set needs 4 axes, for example, PCIe-8154 needs axis 0\~3, and PCIe-8158 need 0\~3 or 4\~7. I32 \*Center\_Pos\_Array： Absolute center position. Unit： pulse. I32 \*End\_Pos\_Array： Absolute end position. Unit： pulse. I32 Max\_Speed： Maximum circular interpolation speed (Circular tangent speed). Unit： pulse/sec I32 Pitch： The pitch of helical. Unit： pulse I32 Dir： Move direction ```txt Dir = 0 --- Clockwise Dir = 1---- Counterclockwise ``` Example： ```c I32 AxisArray[4] = {0, 1, 2, 3}; //Set axis ID. In this example, axis 0&1 run circular interpolation, axis 2 runs vertical direction, and axis 3 is virtual axis for internal calculation. I32 Center_Pos_Array[2] = {1000, 2000}; //Set center position to move (unit: pulse) I32 End_Pos_Array[2] = {2000, 4000}; // Set end position to move (unit: pulse) I32 MaxVel = 5000; //Set maximum velocity in units of pulse per second I32 Pitch = 500; //Set pitch length I32 Dir = 0; //Set direction clockwise for (int i = 0; i < total_axis; i++) { APS_set_axis_param(i, PRA_CURVE, 0); //Set T-curve APS_set_axis_param(i, PRA_ACC, 50000); //Set acceleration APS_set_axis_param(i, PRA_DEC, 50000); //Set deceleration APS_set_axis_param(i, PRA_VS, 0); //Set start velocity } APS_absolute_helical_move (AxisArray, Center_Pos_Array, End_Pos_Array, Pitch, Dir, MaxVel); ``` See also： ```cmake APS_relative_helical_move();APS_set_axis_param(); APS_get_axis_param();APS_motion_status();APS_stop_move();APS_emg_stop() ``` # APS\_relative\_helical\_move Support Products： PCI(e)-8154/8158, AMP-304C # Descriptions： This function is used to start a relative helical interpolation positioning motion. User must specify circle center offset position (2D), circle end offset position, pitch, and move direction for helical interpolation. The speed profile’s acceleration and deceleration rate are set by axis parameter function. The following axis parameter should be setting before you calling this function. PRA\_CURVE PRA\_ACC PRA\_DEC PRA\_VS PRA\_VE The details of parameters please refer the axis parameter table. Although there is maximum speed setting in function parameter, the traveling distance and accelerating rate may not be enough due to user’s setting to reach the maximum speed. Because the speed parameter is in vector direction (Tangent to the circular), this function will take the master axis’s acceleration and deceleration time constant to calculate. The master axis is the minimum axis number that user perform an interpolation. For example, Axis ID 0 and 1 are performing a circular interpolation and synchronized linear travel in axis ID 2. The Axis ID 0 is the master axis. This function is ‘fire-and-forget’ type. That means user’s program or procedure will not be pended during axis traveling. If helical interpolation is stop normally, the normal stop signal (NSTP) will be turned on. On the contrary, if helical interpolation is stopped abnormally (such as ALM, EMG, SEMG and so on is turned on), abnormal stop signal (ASTP) will be turned on. # Syntax： C/C++： I16 APS\_relative\_helical\_move( I32 \*Axis\_ID\_Array, I32 \*Center\_Offset\_Array, I32 \*End\_Offset\_Array, I32 Pitch, I32 Dir, I32 Max\_Speed ); Visual Basic： APS\_relative\_helical\_move( Axis\_ID\_Array As Long, Center\_Offset\_Array As Long, End\_Offset\_Array As Long, ByVal Pitch As Long, ByVal Dir As Long, ByVal Max\_Speed As Long )As Long # Parameters： I32 \*Axis\_ID\_Array： The Axis ID array. Each helical set needs 4 axes, for example, PCIe-8154 needs axis 0\~3, and PCIe-8158 need 0\~3 or 4\~7. I32 \*Center\_Offset\_Array： Relative center offset position. Unit： pulse. I32 \*End\_Offset\_Array： Relative end offset position. Unit： pulse. I32 Max\_Speed： Maximum circular interpolation speed (Circular tangent speed). Unit： pulse/sec I32 Pitch： The pitch of helical. Unit： pulse I32 Dir： Move direction ```txt Dir = 0 --- Clockwise Dir = 1---- Counterclockwise ``` # Example： ```c I32 AxisArray[4] = {0, 1, 2, 3}; //Set axis ID. In this example, axis 0&1 run circular interpolation, axis 2 runs vertical direction, and axis 3 is virtual axis for internal calculation. I32 Center_Offset_Array[2] = {1000, 2000}; //Set center position to move (unit: pulse) I32 End_Offset_Array[2] = {2000, 4000}; // Set end position to move (unit: pulse) I32 MaxVel = 5000; //Set maximum velocity in units of pulse per second I32 Pitch = 500; //Set pitch length I32 Dir = 0; //Set direction clockwise for (int i = 0; i < total_axis; i++) { APS_set_axis_param(i, PRA_CURVE, 0); //Set T-curve APS_set_axis_param(i, PRA_ACC, 50000); //Set acceleration APS_set_axis_param(i, PRA_DEC, 50000); //Set deceleration APS_set_axis_param(i, PRA_VS, 0); //Set start velocity } APS_relative_helical_move (AxisArray, Center_Offset_Array, End_Offset_Array, Pitch, Dir, MaxVel); ``` # See also： APS\_absolute\_helical\_move();APS\_set\_axis\_param ();APS\_get\_axis\_param (); APS\_motion\_status();APS\_stop\_move();APS\_emg\_stop() # 10.Advanced single move & interpolation # APS\_ptp Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to execute a single move by axis. No any suffix represents that no any motion profile is necessary to perform a single move. Other motion profiles are set in axis parameters. User could refer to axis parameter table for the details. # Syntax： C/C++： I32 FNTYPE APS\_ptp( I32 Axis\_ID, I32 Option, F64 Position, ASYNCALL \*Wait); Visual Basic： APS\_ptp(ByVal Axis\_ID As Long, ByVal Option As Long, ByVal Position As Double, Wait As ASYNCALL) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Option： A bit set specifies the option, which could enable specified parameters and functions. <table>7654321Bit : 0Absolute(0) / Relative(1)15141312111098Buffer modeForce AbortWait trigger Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9： This bit is used to assign profile abort behavior when different direction or insufficient decelerating distance happened. 0： Profile will change smoothly. (Default value) 1： Profile will change immediately. Bit 10 \~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting 0001b(1)： Buffered 0010b(2)： Blending low 0011b(3)： Blending previous 0100b(4)： Blending next 0101b(5)： Blending high Bit 16\~： Reserved for future, set to 0. F64 Position： A value specifies how many position/distance to move. For PCI-8254/58 / AMP-204/8C： ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT： ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 opt = 0x1000; //absolute, not wait trigger, Buffered mode ASYNCALL \*wait = NULL; //A waiting call //An absolute move to position 10000 APS\_ptp( Axis\_ID, opt, 10000, wait ); # Example for asynchronous move API call(PCIe-833x only)： I32 ret = 0, boardIDInBit = 0, option = 0; I32 Axis\_ID = 0; F64 Pos = 10000.0; ASYNCALL argu; // Enable asynchronous mode. Bit 11 set to “1” ret = APS\_initial( &boardIDInBit, 0x800 ); APS\_set\_axis\_param\_f( Axis\_ID, PRA\_SF, 0.5 ); //Set S-curve APS\_set\_axis\_param\_f( Axis\_ID, PRA\_ACC, 50000.0 ); //Set acceleration APS\_set\_axis\_param\_f( Axis\_ID, PRA\_DEC, 50000.0 ); //Set deceleration APS\_set\_axis\_param\_f( Axis\_ID, PRA\_VM, 10000.0 ); // Set maximum speed // Executing asynchronous move API argu.u8\_asyncMode = 1; ret = APS\_ptp( Axis\_ID, option, Pos, &argu ); See also： # APS\_ptp\_v Support Products： PCI(e)-8154/58, PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT,AMP-304C, PCIe-8364RS # Descriptions： This function is used to execute a single move by axis. The \_v suffix represents that only one motion profile, that is Vm, is necessary to perform a single move. Other motion profiles are set in axis parameters. User could refer to axis parameter table for the details. # Syntax： C/C++： I32 FNTYPE APS\_ptp\_v( I32 Axis\_ID, I32 Option, F64 Position, F64 Vm, ASYNCALL \*Wait); Visual Basic： APS\_ptp\_v(ByVal Axis\_ID As Long, ByVal Option As Long, ByVal Position As Double, ByVal Vm As Double, Wait As ASYNCALL) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Option： A bit set specifies the option, which could enable specified parameters and functions. For PCI(e)-8154/58, AMP-304C：
76543210
Absolute(0) / Relative(1)
15141312111098
Buffer mode
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~11： Reserved for future, set to 0. Bit12\~15： Buffer mode： 0000b(0)： Aborting, would start position move, or override old movement with new position and speed while in motion. 00001b()： Buffered. Note： It is reserved for future. F64 Position： A value specifies how many position/distance to move. F64 Vm： A value specifies the maximum velocity. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCI-8254/58 / AMP-204/8C：
7654321Bit : 0
Absolute(0) / Relative(1)
15141312111098
Buffer modeForce AbortWait trigger
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9： This bit is used to assign profile abort behavior when different direction or insufficient decelerating distance happened. 0： Profile will change smoothly. (Default value) 1： Profile will change immediately. Bit 10\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting 0001b(1)： Buffered 0010b(2)： Blending low 0011b(3)： Blending previous 0100b(4)： Blending next 0101b(5)： Blending high Bit 16\~： Reserved for future, set to 0. F64 Position： A value specifies how many position/distance to move. F64 Vm： A value specifies the maximum velocity. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT ：
7654321Bit : 0
Absolute(0) / Relative(1)
15141312111098
Buffer modeWait trigger
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting 0001b(1)： Buffered 0010b(2)： Blending low 0011b(3)： Blending previous 0100b(4)： Blending next 0101b(5)： Blending high Bit 16\~： Reserved for future, set to 0. F64 Position： A value specifies how many position/distance to move. F64 Vm： A value specifies the maximum velocity. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 opt = 0x1000; //absolute, aborting mode ASYNCALL \*wait = NULL; //A waiting call //An absolute move to position(10000) with Vm(100000) APS\_ptp\_v ( Axis\_ID, opt, 10000, 100000, wait ); # Example for asynchronous move API call(PCIe-833x only)： I32 ret = 0, boardIDInBit = 0, option = 0; I32 Axis\_ID = 0; F64 Pos = 10000.0, Vm = 10000.0; ASYNCALL argu; // Enable asynchronous mode. Bit 11 set to “1” ret = APS\_initial( &boardIDInBit, 0x800 ); APS\_set\_axis\_param\_f( Axis\_ID, PRA\_SF, 0.5 ); //Set S-curve APS\_set\_axis\_param\_f( Axis\_ID, PRA\_ACC, 50000.0 ); //Set acceleration APS\_set\_axis\_param\_f( Axis\_ID, PRA\_DEC, 50000.0 ); //Set deceleration // Executing asynchronous move API argu.u8\_asyncMode = 1; ret = APS\_ptp\_v( Axis\_ID, option, Pos, Vm, &argu ); # See also： APS\_relative\_move();APS\_absolute\_move();APS\_relative\_move\_ovrd();APS\_absolute\_move\_ovrd() # APS\_ptp\_all Support Products： PCI(e)-8154/58, PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT,AMP-304C, PCIe-8364RS # Descriptions： This function is used to execute a single move. The \_all suffix represents that all motion profiles, including Vs, Vm, Ve, Acc, Dec and SFac, are necessary to perform a single move. # Syntax： C/C++： I32 FNTYPE APS\_ptp\_all( I32 Axis\_ID, I32 Option, F64 Position, F64 Vs, F64 Vm, F64 Ve, F64 Acc, F64 Dec, F64 Sfac, ASYNCALL \*Wait); Visual Basic： APS\_ptp\_all(ByVal Axis\_ID As Long, ByVal Option As Long, ByVal Position As Double, ByVal Vs As Double, ByVal Vm As Double, ByVal Ve As Double, ByVal Acc As Double, ByVal Dec As Double, ByVal Sfac As Double, Wait As ASYNCALL) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Option： A bit set specifies the option, which could enable specified parameters and functions. For PCI(e)-8154/58, AMP-304C：
76543210
Absolute(0) / Relative(1)
15141312111098
Buffer mode
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~11： Reserved for future, set to 0. Bit12\~15： Buffer mode： 0000b(0)： Aborting, would start position move, or override old movement with new position and speed while in motion. 00001b()： Buffered. Note： It is reserved for future. F64 Position： A value specifies how many position/distance to move. F64 Vs： A value specifies the starting velocity. F64 Vm： A value specifies the maximum velocity. F64 Ve： A value specifies the ending velocity. F64 Acc： A value specifies the acceleration. F64 Dec： A value specifies the deceleration. F64 Sfac： A value specifies the s factor. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCI-8254/58 / AMP-204/8C：
7654321Bit : 0
Absolute(0) / Relative(1)
15141312111098
Buffer modeForce AbortWait trigger
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9： This bit is used to assign profile abort behavior when different direction or insufficient decelerating distance happened. 0： Profile will change smoothly. (Default value) 1： Profile will change immediately. Bit 10\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting 0001b(1)： Buffered 0010b(2)： Blending low 0011b(3)： Blending previous 0100b(4)： Blending next 0101b(5)： Blending high Bit 16\~： Reserved for future, set to 0. F64 Position： A value specifies how many position/distance to move. F64 Vs： A value specifies the starting velocity. F64 Vm： A value specifies the maximum velocity. F64 Ve： A value specifies the ending velocity. F64 Acc： A value specifies the acceleration. F64 Dec： A value specifies the deceleration. F64 SFac： A value specifies the s factor. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT ：
7654321Bit : 0
Absolute(0) / Relative(1)
15141312111098
Buffer modeWait trigger
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting 0001b(1)： Buffered 0010b(2)： Blending low 0011b(3)： Blending previous 0100b(4)： Blending next 0101b(5)： Blending high Bit 16\~： Reserved for future, set to 0. F64 Position： A value specifies how many position/distance to move. F64 Vs： A value specifies the starting velocity. F64 Vm： A value specifies the maximum velocity. F64 Ve： A value specifies the ending velocity. F64 Acc： A value specifies the acceleration. F64 Dec： A value specifies the deceleration. F64 Sfac： A value specifies the s factor. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 opt = 0x1000; //absolute, aborting mode ASYNCALL \*wait = NULL; //A waiting call //An absolute move to position(10000) with Vs(10), Vm(100000), Ve(20), Acc/Dec(200000), Sfac(0.5) APS\_ptp\_all( Axis\_ID, opt, 10000, 10, 100000, 20, 200000, 200000, 0.5, wait ); Example for asynchronous move API call(PCIe-833x only)： ```txt I32 ret = 0, boardIDInBit = 0, option = 0; I32 Axis_ID = 0; F64 Pos = 10000.0; F64 Vs = 0.0, Vm = 10000.0, Ve = 0.0, Acc = 50000.0, Dec = 50000.0, Sf = 0.5; ASYNCALL argu; ``` ```rust // Enable asynchronous mode. Bit 11 set to "1" ret = APS_initial( &boardIDInBit, 0x800 ); ..... // Executing asynchronous move API argu.u8_asyncMode = 1; ret = APS_ptp_all( Axis_ID, option, Pos, Vs, Vm, Ve, Acc, Dec, Sf, &argu ); ``` See also： ```cmake APS_relative_move();APS_absolute_move();APS_relative_move_ovrd();APS_absolute_move_ovrd();APS_ptp_v() ``` # APS\_vel Support Products： PCI(e)-8154/58, PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT,AMP-304C, PCIe-8364RS # Descriptions： This function is used to execute a velocity move with Vm. No any suffix represents that no any motion profile is necessary to perform a velocity move. Other motion profiles are set in axis parameters. User could refer to axis parameter table for the details. # Syntax： $$ C / C + +: $$ I32 FNTYPE APS\_vel( I32 Axis\_ID, I32 Option, F64 Vm, ASYNCALL \*Wait); Visual Basic： APS\_vel(ByVal Axis\_ID As Long, ByVal Option As Long, ByVal Vm As Double, Wait As ASYNCALL) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Option： A bit set specifies the option, which could enable specified parameters and functions. For PCI(e)-8154/58, AMP-304C：
76543210
0 : Positive /1 : Negative
15141312111098
Bit 0： 0： Positive direction, 1： Negative direction Bit 1\~15： Reserved for future, set to 0. F64 Vm： A value specifies the maximum velocity. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future.Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCI-8254/58 / AMP-204/8C：
7654321Bit : 0
0 : Positive /1 : Negative
1514131211109Force Abort8Wait trigger
Bit 0： 0： Positive direction, 1： Negative direction Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9： This bit is used to assign profile abort behavior when different direction happened. 0： Profile will change smoothly. (Default value) 1： Profile will change immediately. Bit 10\~： Reserved for future, set to 0. F64 Vm： A value specifies the maximum velocity. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT ：
7654321Bit : 0
0 : Positive /1 : Negative
15141312111098
Wait trigger
Bit 0： 0： Positive direction, 1： Negative direction Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~： Reserved for future, set to 0. F64 Vm： A value specifies the maximum velocity. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 opt = 0; // Positive direction, not wait trigger ASYNCALL \*wait = NULL; //A waiting call //Execute a velocity move with Vm(10000). APS\_vel( Axis\_ID, opt, 10000, wait ); Example for asynchronous move API call(PCIe-833x only)： ```txt I32 ret = 0, boardIDInBit = 0, option = 0; I32 Axis_ID = 0; F64 Vm = 10000.0; ASYNCALL argu; ``` ```txt // Enable asynchronous mode. Bit 11 set to "1" ret = APS_initial(&boardIDInBit, 0x800); ``` ```c APS_set_axis_param_f( Axis_ID, PRA_SF, 0.5 ); //Set S-curve APS_set_axis_param_f( Axis_ID, PRA_ACC, 50000.0 ); //Set acceleration APS_set_axis_param_f( Axis_ID, PRA_DEC, 50000.0 ); //Set deceleration ``` ```txt // Executing asynchronous move API argu.u8_asyncMode = 1; ret = APS_vel(Axis_ID, option, Vm, &argu); ``` See also： ```cmake APS_velocity_move() ``` # APS\_vel\_all Support Products： PCI(e)-8154/58, PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT,AMP-304C, PCIe-8364RS # Descriptions： This function is used to execute a velocity move. The \_all suffix represents that all motion profiles, including Position, Vs, Vm, Acc and Sfac, are necessary to perform a velocity move # Syntax： C/C++： I32 FNTYPE APS\_vel\_all( I32 Axis\_ID, I32 Option, F64 Vs, F64 Vm, F64 Ve, F64 Acc, F64 Dec, F64 Sfac, ASYNCALL \*Wait); Visual Basic： APS\_vel\_all(ByVal Axis\_ID As Long, ByVal Option As Long, ByVal Vs As Double, ByVal Vm As Double, ByVal Ve As Double, ByVal Acc As Double, ByVal Dec As Double, ByVal Sfac As Double, Wait As ASYNCALL) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Option： A bit set specifies the option, which could enable specified parameters and functions. For PCI(e)-8154/58, AMP-304C：
76543210
0 : Positive /1 : Negative
15141312111098
Bit 0： 0： Positive direction, 1： Negative direction Bit 1\~15： Reserved for future, set to 0. F64 Vs： A value specifies the starting velocity. F64 Vm： A value specifies the maximum velocity. F64 Ve： A value specifies the ending velocity. F64 Acc： A value specifies the acceleration. F64 Dec： A value specifies the deceleration. F64 Sfac： A value specifies the s factor. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCI-8254/58 / AMP-204/8C：
7654321Bit : 0
0 : Positive /1 : Negative
15141312111098
Force AbortWait trigger
Bit 0： 0： Positive direction, 1： Negative direction Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9： This bit is used to assign profile abort behavior when different direction happened. 0： Profile will change smoothly. (Default value) 1： Profile will change immediately. Bit 10\~： Reserved for future, set to 0. F64 Vs： A value specifies the starting velocity. F64 Vm： A value specifies the maximum velocity. F64 Ve： A value specifies the ending velocity. F64 Acc： A value specifies the acceleration. F64 Dec： A value specifies the deceleration. F64 SFac： A value specifies the s factor. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT ：
7654321Bit : 0
0 : Positive /1 : Negative
15141312111098
Wait trigger
Bit 0： 0： Positive direction, 1： Negative direction Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~： Reserved for future, set to 0. F64 Vs： A value specifies the starting velocity. F64 Vm： A value specifies the maximum velocity. F64 Ve： A value specifies the ending velocity. F64 Acc： A value specifies the acceleration. F64 Dec： A value specifies the deceleration. F64 Sfac： A value specifies the s factor. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 opt = 0; // Positive direction, not wait trigger ASYNCALL \*wait = NULL; //A waiting call //Execute a velocity move with Vs(10), Vm(100000), Ve(20), Acc/Dec(200000), Sfac(0.5) APS\_vel\_all( Axis\_ID, opt, 10, 100000, 20, 200000, 200000, 0.5, wait ); # Example for asynchronous move API call(PCIe-833x only)： I32 ret = 0, boardIDInBit = 0, option = 0; I32 Axis\_ID = 0; F64 Vs = 0.0, Vm = 10000.0, Ve = 0.0, Acc = 50000.0, Dec = 50000.0, Sf = 0.5; ASYNCALL argu; // Enable asynchronous mode. Bit 11 set to “1” ret = APS\_initial( &boardIDInBit, 0x800 ); // Executing asynchronous move API argu.u8\_asyncMode = 1; ret = APS\_vel\_all( Axis\_ID, option, Vs, Vm, Ve, Acc, Dec, Sf, &argu ); # See also： APS\_velocity\_move(); APS\_vel() # APS\_line Support Products： PCI(e)-8154/58 , PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT,AMP-304C, PCIe-8364RS # Descriptions： This function is used to execute a line interpolation. No any suffix represents that no any motion profile is necessary to perform a line interpolation. Other motion profiles are set in axis parameters. User could refer to axis parameter table for the details. # Syntax： C/C++： I32 FNTYPE APS\_line( I32 Dimension, I32 \*Axis\_ID\_Array, I32 Option, F64 \*PositionArray, F64 \*TransPara, ASYNCALL \*Wait); Visual Basic： APS\_line (ByVal Dimension As Long, Axis\_ID\_Array As Long, ByVal Option As Long, PositionArray As Double, TransPara As Double, Wait As ASYNCALL) As Long # Parameters： I32 Dimension： A value specifies axes dimension. Range is from 2 to 4. I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. Note： The axes specified in Axis\_ID\_Array must be of the same card. I32 Option： A bit set specifies the option, which could enable specified parameters and functions. For PCI(e)-8154/58：
76543210
Absolute(0) / Relative(1)
15141312111098
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~15： Reserved for future, set to 0. F64 \*PositionArray： A pointer indicates the starting address of position array. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. Note： It is reserved for future. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. For PCI-8254/58 / AMP-204/8C and PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT：
7654321Bit : 0
Absolute(0) / Relative(1)
15141312111098
Buffer modeWait trigger
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting – stop and blend (TransPara\_0 as deceleration. [dec >0 ], if dec <= 0, kernel takes new coming deceleration. ) 0001b(1)： Aborting – force abort 0010b(2)： Aborting – stop then go (TransPara\_0 as deceleration. [dec >0 ] , if dec <= 0, kernel takes new coming deceleration. ) 0011b(3)： Buffered 0100b(4)： Blending – Deceleration event 0101b(5)： Blending – Residue distance (TransPara\_0 as residue distance >= 0.0 ) 0110b(6)： Blending – Residue distance in travel distance’s percentage (TransPara\_0 as residue distance % value range： 0.0 \~ 1.0 ) Bit 16\~： Reserved for future, set to 0. F64 \*PositionArray： A pointer indicates the starting address of position array. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. For PCI-8254/58 / AMP-204/8C ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x only. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example1： Below example is for PCI(e)-8154/58 ```c I32 opt = 0; //absolute I32 Dimension = 4; I32 Master_Axis_ID = 0; I32 Axis_ID_Array[4] = {0, 1, 2, 3}; //Axis ID 0 is master axis. I32 Distance_Array[4] = {10000, 20000, 30000, 40000}; I32 Max_Linear_Speed = 10000; I32 Ret; F64 TransPara = 0; ASYNCALL *wait = NULL; ``` ```c APS_set_axis_param( Master_Axis_ID, PRA_CURVE, 1 ); //Set S-curve APS_set_axis_param( Master_Axis_ID, PRA_ACC, 100000 ); //Set acceleration APS_set_axis_param( Master_Axis_ID, PRA_DEC, 100000 ); //Set deceleration ``` ```txt //Execute a line move Ret = APS_line ( Dimension, Axis_ID_Array, opt, PositionArray, &TransPara, wait ); ``` # Example2： ```txt Below example is for PCI-8254/58 / AMP-204/8C or PCIe-833x I32 opt = 0x3000; //absolute, not wait trigger, Buffered mode F64 TransPara = 0; //don't care in buffered mode ASYNCALL *wait = NULL; //A waiting call ``` ```c //Execute a line move APS_line ( Dimension, Axis_ID_Array, opt, PositionArray, &TransPara, wait ); ``` Example3： For asynchronous move API call(PCIe-833x only) ```c I32 ret = 0, boardIDInBit = 0, option = 0; I32 Dimension = 2; I32 Master_Axis_ID = 0; I32 Axis_ID_Array[2] = {0, 1}; //Axis ID 0 is master axis. I32 Distance_Array[2] = {10000.0, 20000.0}; ASYNCALL argu; // Enable asynchronous mode. Bit 11 set to "1" ret = APS_initial( &boardIDInBit, 0x800 ); .... APS_set_axis_param_f( Master_Axis_ID, PRA_SF, 0.5 ); //Set S-curve APS_set_axis_param_f( Master_Axis_ID, PRA_ACC, 50000.0 ); //Set acceleration ``` APS\_set\_axis\_param\_f( Master\_Axis\_ID, PRA\_DEC, 50000.0 ); //Set deceleration APS\_set\_axis\_param\_f( Master\_Axis\_ID, PRA\_VM, 10000.0 ); // Set maximum speed // Executing asynchronous move API argu.u8\_asyncMode = 1; ret = APS\_line( Dimension, Axis\_ID\_Array, option, Distance\_Array, &TransPara, &argu ); See also： APS\_relative\_linear\_move();APS\_absolute\_linear\_move() # APS\_line\_v Support Products： PCI(e)-8154/58 , PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT,AMP-304C, PCIe-8364RS # Descriptions： This function is used to execute a line interpolation. The \_v suffix represents that only one motion profile, that is Vm, is necessary to perform a line interpolation. Other motion profiles are set in axis parameters. User could refer to axis parameter table for the details. # Syntax： C/C++： I32 FNTYPE APS\_line\_v( I32 Dimension, I32 \*Axis\_ID\_Array, I32 Option, F64 \*PositionArray, F64 \*TransPara, F64 Vm, ASYNCALL \*Wait); Visual Basic： APS\_line (ByVal Dimension As Long, Axis\_ID\_Array As Long, ByVal Option As Long, PositionArray As Double, TransPara As Double, ByVal Vm As Double, Wait As ASYNCALL) As Long # Parameters： For PCI(e)-8154/58： I32 Dimension： A value specifies axes dimension. Range is from 2 to 4. I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. Note： The axes specified in Axis\_ID\_Array must be of the same card. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
76543210
Absolute(0) / Relative(1)
15141312111098
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~15： Reserved for future, set to 0. F64 \*PositionArray： A pointer indicates the starting address of position array. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. Note： It is reserved for future. F64 Vm： A value specifies the maximum velocity. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. For PCI-8254/58 / AMP-204/8C and PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT： I32 Dimension： A value specifies axes dimension. Range is from 2 to 6. I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
7654321Bit : 0
Absolute(0) / Relative(1)
15141312111098
Buffer modeWait trigger
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting – stop and blend (TransPara\_0 as deceleration. [dec >0 ], if dec <= 0, kernel takes new coming deceleration. ) 0001b(1)： Aborting – force abort 0010b(2)： Aborting – stop then go (TransPara\_0 as deceleration. [dec >0 ] , if dec <= 0, kernel takes new coming deceleration. ) 0011b(3)： Buffered 0100b(4)： Blending – Deceleration event 0101b(5)： Blending – Residue distance (TransPara\_0 as residue distance >= 0.0 ) 0110b(6)： Blending – Residue distance in travel distance’s percentage (TransPara\_0 as residue distance % value range： 0.0 \~ 1.0 ) Bit 16\~： Reserved for future, set to 0. F64 \*PositionArray： A pointer indicates the starting address of position array. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. F64 Vm： A value specifies the maximum velocity. For PCI-8254/58 / AMP-204/8C ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x only. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example1： ```c Below example is for PCI(e)-8154/58 I32 opt = 0; //absolute I32 Dimension = 4; I32 Master_Axis_ID = 0; I32 Axis_ID_Array[4] = {0, 1, 2, 3}; //Axis ID 0 is master axis. F64 Distance_Array[4] = {10000, 20000, 30000, 40000}; F64 Max_Linear_Speed = 10000; I32 Ret; F64 TransPara = 0; ASYNCALL *wait = NULL; ``` ```c APS_set_axis_param( Master_Axis_ID, PRA_CURVE, 1 ); //Set S-curve APS_set_axis_param( Master_Axis_ID, PRA_ACC, 100000 ); //Set acceleration APS_set_axis_param( Master_Axis_ID, PRA_DEC, 100000 ); //Set deceleration ``` //Execute a line move ```c Ret = APS_line_v (Dimension, Axis_ID_Array, opt, PositionArray, &TransPara, Max_Linear_Speed, wait); ``` Example2： ```c Below example is for PCI-8254/58 / AMP-204/8C or PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT I32 opt = 0x3000; //absolute, not wait trigger, Buffered mode F64 TransPara = 0; //don't care in buffered mode ASYNCALL *wait = NULL; //A waiting call ``` //Execute a line move with Vm(10000) ```txt APS_line_v( Dimension, Axis_ID_Array, opt, PositionArray, &TransPara, 10000, wait ); ``` Example3： For asynchronous move API call(PCIe-833x only) ```javascript I32 ret = 0, boardIDInBit = 0, option = 0; I32 Dimension = 2; I32 Master_Axis_ID = 0; I32 Axis_ID_Array[2] = {0, 1}; //Axis ID 0 is master axis. I32 Distance_Array[2] = {10000.0, 20000.0}; ``` ASYNCALL argu; F64 Vm = 10000.0; // Enable asynchronous mode. Bit 11 set to “1” ret = APS\_initial( &boardIDInBit, 0x800 ); APS\_set\_axis\_param\_f( Master\_Axis\_ID, PRA\_SF, 0.5 ); //Set S-curve APS\_set\_axis\_param\_f( Master\_Axis\_ID, PRA\_ACC, 50000.0 ); //Set acceleration APS\_set\_axis\_param\_f( Master\_Axis\_ID, PRA\_DEC, 50000.0 ); //Set deceleration // Executing asynchronous move API argu.u8\_asyncMode = 1; ret = APS\_line\_v( Dimension, Axis\_ID\_Array, option, Distance\_Array, &TransPara, Vm, &argu ); # See also： APS\_relative\_linear\_move();APS\_absolute\_linear\_move();APS\_line() # APS\_line\_all Support Products： PCI(e)-8154/58, PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT,AMP-304C, PCIe-8364RS # Descriptions： This function is used to execute a line interpolation. The \_all suffix represents that all motion profiles, including Vs, Vm, Ve, Acc, Dec and SFac, are necessary to perform a line interpolation. # Syntax： C/C++： I32 FNTYPE APS\_line\_all( I32 Dimension, I32 \*Axis\_ID\_Array, I32 Option, F64 \*PositionArray, F64 \*TransPara, F64 Vs, F64 Vm, F64 Ve, F64 Acc,F64 Dec, F64 SFac, ASYNCALL \*Wait); Visual Basic： APS\_line\_all(ByVal Dimension As Long, Axis\_ID\_Array As Long, ByVal Option As Long, PositionArray As Double, TransPara As Double, ByVal Vs As Double, ByVal Vm As Double, ByVal Ve As Double, ByVal Acc As Double, ByVal Dec As Double, ByVal SFac As Double, Wait As ASYNCALL) As Long # Parameters： For PCI(e)-8154/58, AMP-304C： I32 Dimension： A value specifies axes dimension. Range is from 2 to 4. I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. Note： The axes specified inAxis\_ID\_Array must be of the same card. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
76543210
Absolute(0) / Relative(1)
15141312111098
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~15： Reserved for future, set to 0. F64 \*PositionArray： A pointer indicates the starting address of position array. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. # Note： It is reserved for future. F64 Vs： A value specifies the starting velocity. F64 Vm： A value specifies the maximum velocity. F64 Ve： A value specifies the ending velocity. F64 Acc： A value specifies the acceleration. F64 Dec： A value specifies the deceleration. F64 SFac： A value specifies the s factor. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. For PCI-8254/58 / AMP-204/8C and PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT： I32 Dimension： A value specifies axes dimension. Range is from 2 to 6. I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
7654321Bit : 0
Absolute(0) / Relative(1)
15141312111098
Buffer modeWait trigger
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting – stop and blend (TransPara\_0 as deceleration. [dec >0 ], if dec <= 0, kernel takes new coming deceleration. ) 0001b(1)： Aborting – force abort 0010b(2)： Aborting – stop then go (TransPara\_0 as deceleration. [dec >0 ] , if dec <= 0, kernel takes new coming deceleration. ) 0011b(3)： Buffered 0100b(4)： Blending – Deceleration event 0101b(5)： Blending – Residue distance (TransPara\_0 as residue distance >= 0.0 ) 0110b(6)： Blending – Residue distance in travel distance’s percentage (TransPara\_0 as residue distance % value range： 0.0 \~ 1.0 ) Bit 16\~： Reserved for future, set to 0. F64 \*PositionArray： A pointer indicates the starting address of position array. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. F64 Vs： A value specifies the starting velocity. F64 Vm： A value specifies the maximum velocity. F64 Ve： A value specifies the ending velocity. F64 Acc： A value specifies the acceleration. F64 Dec： A value specifies the deceleration. F64 SFac： A value specifies the s factor. For PCI-8254/58 / AMP-204/8C ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x only ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example1： Below example is for PCI(e)-8154/58 I32 opt = 0; //absolute I32 Dimension = 4; I32 Master\_Axis\_ID = 0; I32 Axis\_ID\_Array[4] = {0, 1, 2, 3}; //Axis ID 0 is master axis. F64 Distance\_Array[4] = {10000, 20000, 30000, 40000 }; I32 Ret; F64 TransPara = 0; ASYNCALL \*wait = NULL; APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_CURVE, 1 ); //Set S-curve APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_ACC, 100000 ); //Set acceleration APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_DEC, 100000 ); //Set deceleration //Execute a line move //Execute a line move with Vs(10), Vm(100000), Ve(20), Acc/Dec(200000), SFac(0.5) APS\_line\_all( Dimension, Axis\_ID\_Array, opt, PositionArray, &TransPara, 10, 100000, 20, 200000, 200000, 0.5, wait ); # Example2： Below example is for PCI-8254/58 / AMP-204/8C or PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT I32 opt = 0x3000; //absolute, not wait trigger, Buffered mode F64 TransPara = 0; //don’t care in buffered mode ASYNCALL \*wait = NULL; //A waiting call //Execute a line move with Vs(10), Vm(100000), Ve(20), Acc/Dec(200000), SFac(0.5) APS\_line\_all( Dimension, Axis\_ID\_Array, opt, PositionArray, &TransPara, 10, 100000, 20, 200000, 200000, 0.5, wait ); Example3： For asynchronous move API call(PCIe-833x only) ```c I32 ret = 0, boardIDInBit = 0, option = 0; I32 Dimension = 2; I32 Master_Axis_ID = 0; I32 Axis_ID_Array[2] = {0, 1}; //Axis ID 0 is master axis. I32 Distance_Array[2] = {10000.0, 20000.0}; F64 Vs = 0.0, Vm = 10000.0, Ve = 0.0, Acc = 50000.0, Dec = 50000.0, Sf = 0.5; ASYNCALL argu; ``` ```c // Enable asynchronous mode. Bit 11 set to "1" ret = APS_initial( &boardIDInBit, 0x800 ); ..... // Executing asynchronous move API argu.u8_asyncMode = 1; ret = APS_line_all( Dimension, Axis_ID_Array, option, Distance_Array, &TransPara, Vs, Vm, Ve, Acc, Dec, Sf, &argu ); ``` See also： ```cmake APS_relative_linear_move(); APS_absolute_linear_move(); APS_line() ``` # APS\_arc2\_ca Support Products： PCI(e)-8154/58 , PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT,AMP-304C, PCIe-8364RS # Descriptions： This function is used to execute a 2D arc interpolation of angle type, named \_arc2\_ca. It follows with center position and angle. Current position and center position arguments would decide radius of arc.No any suffix represents that no any motion profile is necessary to perform a 2D arc interpolation. Other motion profiles are set in axis parameters. User could refer to axis parameter table for the details. # Syntax： C/C++： I32 FNTYPE APS\_arc2\_ca( I32 \*Axis\_ID\_Array, I32 Option, F64 \*CenterArray, F64 Angle, F64 \*TransPara, ASYNCALL \*Wait ); Visual Basic： APS\_arc2\_ca( Axis\_ID\_Array As Long, ByVal Option As Long, CenterArray As Double, ByVal Angle As Double, TransPara As Double, Wait As ASYNCALL) As Long # Parameters： For PCI(e)-8154/58, AMP-304C： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. Note： The axes specified in Axis\_ID\_Array must be of the same card. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
76543210
Absolute(0) / Relative(1)
15141312111098
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~15： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 Angle： A value specifies the angle. Unit in radian. Range is -2\*PI \~ 2\*PI. Positive value is counterclockwise, negative value is clockwise. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. Note： It is reserved for future. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. For PCI-8254/58 / AMP-204/8C and PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
7654321Bit : 0
Absolute(0) / Relative(1)
15141312111098
Buffer modeWait trigger
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting – stop and blend (TransPara\_0 as deceleration. [dec >0 ], if dec <= 0, kernel takes new coming deceleration. ) 0001b(1)： Aborting – force abort 0010b(2)： Reserved. Note： if setting to mode 2, it will return error code. 0011b(3)： Buffered 0100b(4)： Blending – Deceleration event 0101b(5)： Blending – Residue distance (TransPara\_0 as residue distance >= 0.0 ) 0110b(6)： Blending – Residue distance in travel distance’s percentage (TransPara\_0 as residue distance % value range： 0.0 \~ 1.0 ) Bit 16\~： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 Angle： A value specifies the angle. Unit in radian. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. For PCI-8254/58 / AMP-204/8C ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x only ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```c I32 opt = 0; //absolute I32 Master_Axis_ID = 0; I32 Axis_ID_Array[2] = {0, 1}; //Axis ID 0 is master axis. F64 Center_Pos_Array[2] = {100000, 0}; F64 Angle = -180 * (2PI / 360); // clockwise 180 degree. I32 Ret; F64 TransPara = 0; ASYNCALL *wait = NULL; ``` ```c APS_set_axis_param( Master_Axis_ID, PRA_CURVE, 1 ); //Set S-curve APS_set_axis_param( Master_Axis_ID, PRA_ACC, 100000 ); //Set acceleration APS_set_axis_param( Master_Axis_ID, PRA_DEC, 100000 ); //Set deceleration ``` ```rust //Execute a arc move APS_arc2_ca (Axis_ID_Array, opt, Center_Pos_Array, Angle, &TransPara, wait); ``` Example： For asynchronous move API call(PCIe-833x only) ```javascript I32 ret = 0, boardIDInBit = 0, option = 0; I32 Master_Axis_ID = 0; I32 Axis_ID_Array[2] = {0, 1}; //Axis ID 0 is master axis. F64 Center_Pos_Array[2] = {10000, 0}; F64 Angle = 180 * (2PI / 360); F64 TransPara = 0; ASYNCALL argu; ``` ```txt // Enable asynchronous mode. Bit 11 set to "1" ret = APS_initial(&boardIDInBit, 0x800); ``` ```c APS_set_axis_param_f( Master_Axis_ID, PRA_SF, 0.5 ); //Set S-curve APS_set_axis_param_f( Master_Axis_ID, PRA_ACC, 50000.0 ); //Set acceleration APS_set_axis_param_f( Master_Axis_ID, PRA_DEC, 50000.0 ); //Set deceleration APS_set_axis_param_f( Master_Axis_ID, PRA_VM, 10000.0 ); // Maximum speed ``` ```txt // Executing asynchronous move API argu.u8_asyncMode = 1; ``` APS\_arc2\_ca( Axis\_ID\_Array, option, Center\_Pos\_Array, Angle, &TransPara, &argu ); See also： APS\_relative\_arc\_move(); APS\_absolute\_arc\_move() # APS\_arc2\_ca\_v Support Products： PCI(e)-8154/58 , PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT,AMP-304C, PCIe-8364RS # Descriptions： This function is used to execute a 2D arc interpolation of angle type, named \_arc2\_ca. It follows with center position and angle. Current position and center position arguments would decide radius of arc.The \_v suffix represents that only one motion profile, that is Vm, is necessary to perform a 2D arc interpolation.Other motion profiles are set in axis parameters. User could refer to axis parameter table for the details. # Syntax： C/C++： I32 FNTYPE APS\_arc2\_ca\_v( I32 \*Axis\_ID\_Array, I32 Option, F64 \*CenterArray, F64 Angle, F64 \*TransPara, F64 Vm, ASYNCALL \*Wait ); Visual Basic： APS\_arc2\_ca\_v( Axis\_ID\_Array As Long, ByVal Option As Long, CenterArray As Double, ByVal Angle As Double, TransPara As Double, ByVal Vm As Double, Wait As ASYNCALL) As Long # Parameters： For PCI(e)-8154/58, AMP-304C： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. Note： The axes specified in Axis\_ID\_Array must be of the same card. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
76543210
Absolute(0) / Relative(1)
15141312111098
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~15： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 Angle： A value specifies the angle. Unit in radian. Range is -2\*PI \~ 2\*PI. Positive value is counterclockwise, negative value is clockwise. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. Note： It is reserved for future. F64 Vm： A value specifies the maximum velocity. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. For PCI-8254/58 / AMP-204/8C and PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
7654321Bit : 0
Absolute(0) / Relative(1)
15141312111098
Buffer modeWait trigger
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting – stop and blend (TransPara\_0 as deceleration. [dec >0 ], if dec <= 0, kernel takes new coming deceleration. ) 0001b(1)： Aborting – force abort 0010b(2)： Reserved. Note： if setting to mode 2, it will return error code. 0011b(3)： Buffered 0100b(4)： Blending – Deceleration event 0101b(5)： Blending – Residue distance (TransPara\_0 as residue distance >= 0.0 ) 0110b(6)： Blending – Residue distance in travel distance’s percentage (TransPara\_0 as residue distance % value range： 0.0 \~ 1.0 ) Bit 16\~： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 Angle： A value specifies the angle. Unit in radian. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. F64 Vm： A value specifies the maximum velocity. For PCI-8254/58 / AMP-204/8C ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x only ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 opt = 0; //absolute I32 Master\_Axis\_ID = 0; I32 Axis\_ID\_Array[2] = {0, 1}; //Axis ID 0 is master axis. F64 Center\_Pos\_Array[2] = {100000, 0}; F64 Angle = -180 \* (2\*PI / 360); // clockwise 180 degree. F64 Speed = 10000.0; I32 Ret; F64 TransPara = 0; ASYNCALL \*wait = NULL; APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_CURVE, 1 ); //Set S-curve APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_ACC, 100000 ); //Set acceleration APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_DEC, 100000 ); //Set deceleration //Execute a arc move APS\_arc2\_ca\_v (Axis\_ID\_Array, opt, Center\_Pos\_Array, Angle, &TransPara, Speed ,wait ); # Example： For asynchronous move API call(PCIe-833x only) I32 ret = 0, boardIDInBit = 0, option = 0; I32 Master\_Axis\_ID = 0; I32 Axis\_ID\_Array[2] = {0, 1}; //Axis ID 0 is master axis. F64 Center\_Pos\_Array[2] = {10000, 0}; F64 Angle = 180 \* (2\*PI / 360); F64 Vm = 10000.0; F64 TransPara = 0; ASYNCALL argu; // Enable asynchronous mode. Bit 11 set to “1” ret = APS\_initial( &boardIDInBit, 0x800 ); APS\_set\_axis\_param\_f( Master\_Axis\_ID, PRA\_SF, 0.5 ); //Set S-curve APS\_set\_axis\_param\_f( Master\_Axis\_ID, PRA\_ACC, 50000.0 ); //Set acceleration APS\_set\_axis\_param\_f( Master\_Axis\_ID, PRA\_DEC, 50000.0 ); //Set deceleration // Executing asynchronous move API ```c argu.u8_asyncMode = 1; ret = APS_arc2_ca_v( Axis_ID_Array, option, Center_Pos_Array, Angle, &TransPara, Vm, &argu ); ``` See also： ```txt APS_relative_arc_move();APS_absolute_arc_move();APS_arc2_ca() ``` # APS\_arc2\_ca\_all Support Products： PCI(e)-8154/58 , PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT,AMP-304C, PCIe-8364RS # Descriptions： This function is used to execute a 2D arc interpolation of angle type, named \_arc2\_ca. It follows with center position and angle. Current position and center position arguments would decide radius of arc.The \_all suffix represents that all motion profiles, including Vs, Vm, Ve, Acc, Dec and SFac, are necessary to perform a 2D arc interpolation. # Syntax： C/C++： I32 FNTYPE APS\_arc2\_ca\_all( I32 \*Axis\_ID\_Array, I32 Option, F64 \*CenterArray, F64 Angle, F64 \*TransPara, F64 Vs, F64 Vm, F64 Ve, F64 Acc,F64 Dec, F64 SFac, ASYNCALL \*Wait ); Visual Basic： APS\_arc2\_ca\_all( Axis\_ID\_Array As Long, ByVal Option As Long, CenterArray As Double, ByVal Angle As Double, TransPara As Double, ByVal Vs As Double, ByVal Vm As Double, ByVal Ve As Double, ByVal Acc As Double, ByVal Dec As Double, ByVal SFac As Double, Wait As ASYNCALL) As Long # Parameters： For PCI(e)-8154/58, AMP-304C： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. Note： The axes specified in Axis\_ID\_Array must be of the same card. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
76543210
Absolute(0) / Relative(1)
15141312111098
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~15： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 Angle： A value specifies the angle. Unit in radian. Range is -2\*PI \~ 2\*PI. Positive value is counterclockwise, negative value is clockwise. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. Note： It is reserved for future. F64 Vs： A value specifies the starting velocity. F64 Vm： A value specifies the maximum velocity. F64 Ve： A value specifies the ending velocity. F64 Acc： A value specifies the acceleration. F64 Dec： A value specifies the deceleration. F64 SFac： A value specifies the s factor. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. For PCI-8254/58 / AMP-204/8C and PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
7654321Bit : 0
Absolute(0) / Relative(1)
15141312111098
Buffer modeWait trigger
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting – stop and blend (TransPara\_0 as deceleration. [dec >0 ], if dec <= 0, kernel takes new coming deceleration. ) 0001b(1)： Aborting – force abort 0010b(2)： Reserved. Note： if setting to mode 2, it will return error code. 0011b(3)： Buffered 0100b(4)： Blending – Deceleration event 0101b(5)： Blending – Residue distance (TransPara\_0 as residue distance >= 0.0 ) 0110b(6)： Blending – Residue distance in travel distance’s percentage (TransPara\_0 as residue distance % value range： 0.0 \~ 1.0 ) Bit 16\~： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 Angle： A value specifies the angle. Unit in radian. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. F64 Vs： A value specifies the starting velocity. F64 Vm： A value specifies the maximum velocity. F64 Ve： A value specifies the ending velocity. F64 Acc： A value specifies the acceleration. F64 Dec： A value specifies the deceleration. F64 SFac： A value specifies the s factor. For PCI-8254/58 / AMP-204/8C ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x only ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 opt = 0; //absolute I32 Master\_Axis\_ID = 0; I32 Axis\_ID\_Array[2] = {0, 1}; //Axis ID 0 is master axis. F64 Center\_Pos\_Array[2] = {100000, 0}; F64 Angle = -180 \* (2\*PI / 360); // clockwise 180 degree. I32 Ret; F64 TransPara = 0; ASYNCALL \*wait = NULL; APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_CURVE, 1 ); //Set S-curve APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_ACC, 100000 ); //Set acceleration APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_DEC, 100000 ); //Set deceleration //Execute a arc move with Vs(10), Vm(100000), Ve(20), Acc/Dec(200000), SFac(0.5) APS\_arc2\_ca\_all (Axis\_ID\_Array, opt, Center\_Pos\_Array, Angle, &TransPara, 10, 100000, 20, 200000, 200000, 0.5, wait ); # Example： For asynchronous move API call(PCIe-833x only) I32 ret = 0, boardIDInBit = 0, option = 0; I32 Master\_Axis\_ID = 0; I32 Axis\_ID\_Array[2] = {0, 1}; //Axis ID 0 is master axis. F64 Center\_Pos\_Array[2] = {10000, 0}; ```matlab F64 Angle = 180 * (2*PI / 360); F64 Vs = 0.0, Vm = 10000.0. Ve = 0.0, Acc = 50000.0, Dec = 50000.0, Sf = 0.5; F64 TransPara = 0; ASYNCALL argu; ``` ```txt // Enable asynchronous mode. Bit 11 set to "1" ret = APS_initial(&boardIDInBit, 0x800); ``` ```txt // Executing asynchronous move API argu.u8_asyncMode = 1; ret = APS_arc2_ca_all( Axis_ID_Array, option, Center_Pos_Array, Angle, &TransPara, Vs, Vm, Ve, Acc, Dec, Sf, &argu ); ``` See also： APS\_relative\_arc\_move();APS\_absolute\_arc\_move();APS\_arc2\_ca() # APS\_arc2\_ce Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCI(e)-8154/58,AMP-304C, PCIe-8364RS # Descriptions： This function is used to execute a 2D arc interpolation of end position type, named \_arc2\_ce. It follows with center position, end position and Dir. No any suffix represents that no any motion profile is necessary to perform a 2D arc interpolation. Other motion profiles are set in axis parameters. User could refer to axis parameter table for the details. # Syntax： C/C++： I32 FNTYPE APS\_arc2\_ce( I32 \*Axis\_ID\_Array, I32 Option, F64 \*CenterArray, F64 \*EndArray, I16 Dir, F64 \*TransPara, ASYNCALL \*Wait ); Visual Basic： I32 FNTYPE APS\_arc2\_ce( Axis\_ID\_Array As Long, ByVal Option As Long, CenterArray As Double, EndArray As Double, ByVal Dir As Short, TransPara As Double, Wait As ASYNCALL) As Long # Parameters： For PCI(e)-8154/58, AMP-304C： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. Note： The axes specified in Axis\_ID\_Array must be of the same card. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
76543210
Absolute(0) / Relative(1)
15141312111098
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~15： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 \*EndArray： A pointer indicates the starting address of end array. I16 Dir： A value specifies the rotate direction. If dir set 1 means Dir=1 and rotate in positive direction,when dir set <=0 means Dir=-1 and rotate in negative direction. The total rotate $a n g / e = t h e t a + D i r \chi _ { \normalfont P I _ { \prime } }$ where theta is the angle of two vectors： center to start and center to end. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. Note： It is reserved for future. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. For PCI-8254/58 / AMP-204/8C and PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. I32 Option： A bit set specifies the option, which could enable specified parameters and functions. <table>7654321Bit : 0Absolute(0) / Relative(1)15141312111098Buffer modeWait trigger Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting – stop and blend (TransPara\_0 as deceleration. [dec >0 ], if dec <= 0, kernel takes new coming deceleration. ) 0001b(1)： Aborting – force abort 0010b(2)： Reserved. Note： if setting to mode 2, it will return error code. 0011b(3)： Buffered 0100b(4)： Blending – Deceleration event 0101b(5)： Blending – Residue distance (TransPara\_0 as residue distance >= 0.0 ) 0110b(6)： Blending – Residue distance in travel distance’s percentage( TransPara\_0 as residuedistance % value range： 0.0 \~ 1.0 ) Bit 16\~： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 \*EndArray： A pointer indicates the starting address of end array. I16 Dir： A value specifies the rotate direction. If dir set 0 means rotate in positive direction, dir = -1 rotate in negative direction. The total rotate angle = theta + Dir x 2PI, where theta is the angle of two vectors： center to start and center to end. For PCI-8254/58 / AMP-204/8C F64 \*TransPara： A pointer indicates the starting address of transfer parameters. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x only ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```c I32 opt = 0; //absolute I32 Dir = 1; // Counter clockwise I32 Master_Axis_ID = 0; I32 Axis_ID_Array[2] = {0, 1}; //Axis ID 0 is master axis. F64 Center_Pos_Array[2] = {0, 0}; //Start point set(100000,0) F64 End_Pos_Array [2] = {0, 100000}; I32 Ret; F64 TransPara = 0; ASYNCALL *wait = NULL; ``` ```c APS_set_axis_param( Master_Axis_ID, PRA_CURVE, 1 ); //Set S-curve APS_set_axis_param( Master_Axis_ID, PRA_ACC, 100000 ); //Set acceleration APS_set_axis_param( Master_Axis_ID, PRA_DEC, 100000 ); //Set deceleration //Execute a arc move APS_arc2_ce (Axis_ID_Array, opt, Center_Pos_Array, End_Pos_Array, Dir , &TransPara, wait ); ``` # Example： For asynchronous move API call(PCIe-833x only) ```c I32 ret = 0, boardIDInBit = 0, option = 0; I32 Dir = 0; I32 Master_Axis_ID = 0; I32 Axis_ID_Array[2] = {0, 1}; //Axis ID 0 is master axis. F64 Center_Pos_Array[2] = {10000, 0}; F64 End_Pos_Array[2] = {10000, 10000}; F64 TransPara = 0; ASYNCALL argu; ``` ```txt // Enable asynchronous mode. Bit 11 set to "1" ret = APS_initial(&boardIDInBit, 0x800); ``` ```c APS_set_axis_param_f( Master_Axis_ID, PRA_SF, 0.5 ); //Set S-curve APS_set_axis_param_f( Master_Axis_ID, PRA_ACC, 50000.0 ); //Set acceleration APS_set_axis_param_f( Master_Axis_ID, PRA_DEC, 50000.0 ); //Set deceleration APS_set_axis_param_f( Master_Axis_ID, PRA_VM, 10000.0 ); // Set maximum speed ``` ```txt // Executing asynchronous move API argu.u8_asyncMode = 1; ret = APS_arc2_ce( Axis_ID_Array, option, Center_Pos_Array, End_Pos_Array, Dir, &TransPara, &argu ); ``` See also： # APS\_arc2\_ce\_v Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT PCI(e)-8154/58,AMP-304C, PCIe-8364RS # Descriptions： This function is used to execute a 2D arc interpolation of end position type, named \_arc2\_ce. It follows with center position, end position and Dir. The \_v suffix represents that only one motion profile, that is Vm, is necessary to perform a 2D arc interpolation. Other motion profiles are set in axis parameters. User could refer to axis parameter table for the details. # Syntax： C/C++： I32 FNTYPE APS\_arc2\_ce\_v( I32 \*Axis\_ID\_Array, I32 Option, F64 \*CenterArray, F64 \*EndArray, I16 Dir, F64 \*TransPara, F64 Vm, ASYNCALL \*Wait ); Visual Basic： APS\_arc2\_ce\_v( Axis\_ID\_Array As Long, ByVal Option As Long, CenterArray As Double, EndArray As Double, ByVal Dir As Short, TransPara As Double, ByVal Vm As Double, Wait As ASYNCALL) As Long # Parameters： For PCI(e)-8154/58, AMP-304C： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. Note： The axes specified in Axis\_ID\_Array must be of the same card. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
76543210
Absolute(0) / Relative(1)
15141312111098
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~15： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 \*EndArray： A pointer indicates the starting address of end array. I16 Dir： A value specifies the rotate direction. If dir set 1 means Dir=1 and rotate in positive direction,when dir set <=0 means Dir=-1 and rotate in negative direction. The total rotate $a n g / e = t h e t a + D i r \chi _ { \normalfont P I _ { \prime } }$ where theta is the angle of two vectors： center to start and center to end. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. Note： It is reserved for future. F64 Vm： A value specifies the maximum velocity. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. For PCI-8254/58 / AMP-204/8C and PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. I32 Option： A bit set specifies the option, which could enable specified parameters and functions. <table>7654321Bit : 0Absolute(0) / Relative(1)15141312111098Buffer modeWait trigger Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting – stop and blend (TransPara\_0 as deceleration. [dec >0 ], if dec <= 0, kernel takes new coming deceleration. ) 0001b(1)： Aborting – force abort 0010b(2)： Reserved. Note： if setting to mode 2, it will return error code. 0011b(3)： Buffered 0100b(4)： Blending – Deceleration event 0101b(5)： Blending – Residue distance (TransPara\_0 as residue distance >= 0.0 ) 0110b(6)： Blending – Residue distance in travel distance’s percentage( TransPara\_0 as residue distance % value range： 0.0 \~ 1.0 ) Bit 16\~： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 \*EndArray： A pointer indicates the starting address of end array. I16 Dir： A value specifies the rotate direction. If dir set 0 means rotate in positive direction, dir = -1 rotate in negative direction. The total rotate angle = theta + Dir x 2PI, where theta is the angle of two vectors： center to start and center to end. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. F64 Vm： A value specifies the maximum velocity. For PCI-8254/58 / AMP-204/8C ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x only ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is non- waiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 opt = 0; //absolute I32 Dir = 1; // Counter clockwise I32 Master\_Axis\_ID = 0; I32 Axis\_ID\_Array[2] = {0, 1}; //Axis ID 0 is master axis. F64 Center\_Pos\_Array[2] = {0, 0}; //Start point set(100000,0) F64 End\_Pos\_Array [2] = {0, 100000}; F64 Speed = 10000.0; I32 Ret; F64 TransPara = 0; ASYNCALL \*wait = NULL; APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_CURVE, 1 ); //Set S-curve APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_ACC, 100000 ); //Set acceleration APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_DEC, 100000 ); //Set deceleration //Execute a arc move APS\_arc2\_ce\_v (Axis\_ID\_Array, opt, Center\_Pos\_Array, Angle, &TransPara, Speed ,wait ); # Example： For asynchronous move API call(PCIe-833x only) I32 ret = 0, boardIDInBit = 0, option = 0; I32 Dir = 0; I32 Master\_Axis\_ID = 0; I32 Axis\_ID\_Array[2] = {0, 1}; //Axis ID 0 is master axis. F64 Center\_Pos\_Array[2] = {10000, 0}; F64 End\_Pos\_Array [2] = {10000, 10000}; F64 Vm = 10000.0; F64 TransPara = 0; ASYNCALL argu; ```txt // Enable asynchronous mode. Bit 11 set to "1" ret = APS_initial(&boardIDInBit, 0x800); ``` ```txt APS_set_axis_param_f( Master_Axis_ID, PRA_SF, 0.5 ); //Set S-curve APS_set_axis_param_f( Master_Axis_ID, PRA_ACC, 50000.0 ); //Set acceleration APS_set_axis_param_f( Master_Axis_ID, PRA_DEC, 50000.0 ); //Set deceleration ``` ```c // Executing asynchronous move API argu.u8_asyncMode = 1; ret = APS_arc2_ce_v( Axis_ID_Array, option, Center_Pos_Array, End_Pos_Array, &TransPara, Vm, &argu ); ``` See also： # APS\_arc2\_ce\_all Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT PCI(e)-8154/58,AMP-304C, PCIe-8364RS # Descriptions： This function is used to execute a 2D arc interpolation of end position type, named \_arc2\_ce. It follows with center position, end position and Dir. The \_all suffix represents that all motion profiles, including Vs, Vm, Ve, Acc, Dec and SFac, are necessary to perform a 2D arc interpolation. # Syntax： $$ C / C + +: $$ I32 FNTYPE APS\_arc2\_ce\_all( I32 \*Axis\_ID\_Array, I32 Option, F64 \*CenterArray, F64 \*EndArray, I16 Dir, F64 \*TransPara, F64 Vs, F64 Vm, F64 Ve, F64 Acc,F64 Dec, F64 SFac, ASYNCALL \*Wait ); Visual Basic： APS\_arc2\_ce\_all( Axis\_ID\_Array As Long, ByVal Option As Long, CenterArray As Double, EndArray As Double, ByVal Dir As Short, TransPara As Double, ByVal Vs As Double, ByVal Vm As Double, ByVal Ve As Double, ByVal Acc As Double, ByVal Dec As Double, ByVal SFac As Double, Wait As ASYNCALL) As Long # Parameters： For PCI(e)-8154/58, AMP-304C： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. Note： The axes specified in Axis\_ID\_Array must be of the same card. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
76543210
Absolute(0) / Relative(1)
15141312111098
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~15： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 \*EndArray： A pointer indicates the starting address of end array. I16 Dir： A value specifies the rotate direction. If dir set 1 means Dir=1 and rotate in positive direction,when dir set <=0 means Dir=-1 and rotate in negative direction. The total rotate $a n g / e = t h e t a + D i r \chi _ { \normalfont P I _ { \prime } }$ where theta is the angle of two vectors： center to start and center to end. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. Note： It is reserved for future. F64 Vs： A value specifies the starting velocity. F64 Vm： A value specifies the maximum velocity. F64 Ve： A value specifies the ending velocity. F64 Acc： A value specifies the acceleration. F64 Dec： A value specifies the deceleration. F64 SFac： A value specifies the s factor. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. For PCI-8254/58 / AMP-204/8C and PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. I32 Option： A bit set specifies the option, which could enable specified parameters and functions. <table>7654321Bit : 0Absolute(0) / Relative(1)15141312111098Buffer modeWait trigger Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting – stop and blend (TransPara\_0 as deceleration. [dec >0 ], if dec <= 0, kernel takes new coming deceleration. ) 0001b(1)： Aborting – force abort 0010b(2)： Reserved. Note： if setting to mode 2, it will return error code. 0011b(3)： Buffered 0100b(4)： Blending – Deceleration event 0101b(5)： Blending – Residue distance (TransPara\_0 as residue distance >= 0.0 ) 0110b(6)： Blending – Residue distance in travel distance’s percentage( TransPara\_0 as residuedistance % value range： 0.0 \~ 1.0 ) Bit 16\~： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 \*EndArray： A pointer indicates the starting address of end array. I16 Dir： A value specifies the rotate direction. If dir set 0 means rotate in positive direction, dir = -1 rotate in negative direction. The total rotate angle = theta + Dir x 2PI, where theta is the angle of two vectors： center to start and center to end. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. F64 Vs： A value specifies the starting velocity. F64 Vm： A value specifies the maximum velocity. F64 Ve： A value specifies the ending velocity. F64 Acc： A value specifies the acceleration. F64 Dec： A value specifies the deceleration. F64 SFac： A value specifies the s factor. For PCI-8254/58 / AMP-204/8C ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x only ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 opt = 0; //absolute I32 Dir = 1; // Counter clockwise I32 Master\_Axis\_ID = 0; I32 Axis\_ID\_Array[2] = {0, 1}; //Axis ID 0 is master axis. F64 Center\_Pos\_Array[2] = {0, 0}; //Start point set(100000,0) F64 End\_Pos\_Array [2] = {0, 100000}; I32 Ret; F64 TransPara = 0; ASYNCALL \*wait = NULL; APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_CURVE, 1 ); //Set S-curve APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_ACC, 100000 ); //Set acceleration APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_DEC, 100000 ); //Set deceleration //Execute a arc move with Vs(10), Vm(100000), Ve(20), Acc/Dec(200000), SFac(0.5) APS\_arc2\_ce\_all (Axis\_ID\_Array, opt, Center\_Pos\_Array, Angle, &TransPara, 10, 100000, 20, 200000, 200000, 0.5, wait ); Example： For asynchronous move API call(PCIe-833x only) ```c I32 ret = 0, boardIDInBit = 0, option = 0; I32 Dir = 0; I32 Master_Axis_ID = 0; I32 Axis_ID_Array[2] = {0, 1}; //Axis ID 0 is master axis. F64 Center_Pos_Array[2] = {10000, 0}; F64 End_Pos_Array[2] = {10000, 10000}; F64 Vs = 0.0, Vm = 10000.0, Ve = 0.0, Acc = 50000.0, Dec = 50000.0, Sf = 0.5; F64 TransPara = 0; ASYNCALL argu; ``` ```txt // Enable asynchronous mode. Bit 11 set to "1" ret = APS_initial(&boardIDInBit, 0x800); ``` ```c // Executing asynchronous move API argu.u8_asyncMode = 1; ret = APS_arc2_ce_all( Axis_ID_Array, option, Center_Pos_Array, End_Pos_Array, &TransPara, Vs, Vm, Ve, Acc, Dec, Sf, &argu ); ``` See also： # APS\_arc3\_ca Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to execute a 3D arc interpolation of angle type, named \_arc3\_ca. It follows with angle, center position and normal vector. No any suffix represents that no any motion profile is necessary to perform a 3D arc interpolation. Other motion profiles are set in axis parameters. User could refer to axis parameter table for the details. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_arc3\_ca( I32 \*Axis\_ID\_Array, I32 Option, F64 \*CenterArray, F64 \*NormalArray, F64 Angle, F64 \*TransPara, ASYNCALL \*Wait ); Visual Basic： APS\_arc3\_ca( Axis\_ID\_Array As Long, ByVal Option As Long, CenterArray As Double, NormalArray As Double, ByVal Angle As Double, TransPara As Double, Wait As ASYNCALL) As Long # Parameters： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
7654321Bit : 0
Absolute(0) / Relative(1)
15141312111098
Buffer modeWait trigger
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting – stop and blend (TransPara\_0 as deceleration. [dec >0 ], if dec <= 0, kernel takes new coming deceleration. ) 0001b(1)： Aborting – force abort 0010b(2)： Reserved. Note： if setting to mode 2, it will return error code. 0011b(3)： Buffered 0100b(4)： Blending – Deceleration event 0101b(5)： Blending – Residue distance (TransPara\_0 as residue distance >= 0.0 ) 0110b(6)： Blending – Residue distance in travel distance’s percentage (TransPara\_0 as residue distance % value range： 0.0 \~ 1.0 ) Bit 16\~： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 \* NormalArray： A pointer indicates the starting address of normal vector array. F64 Angle： A value specifies the angle. Unit in radian. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. For PCI-8254/58 / AMP-204/8C ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x only ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Example： For asynchronous move API call(PCIe-833x only) ```c I32 ret = 0, boardIDInBit = 0, option = 0; I32 Master_Axis_ID = 0; I32 Axis_ID_Array[3] = {0, 1, 2}; //Axis ID 0 is master axis. F64 Center_Pos_Array[3] = {10000.0, 10000.0, 0.0}; F64 NormalVec[3] = {0, 0, 1}; F64 Angle = 180 * (2*PI / 360); F64 TransPara = 0; ASYNCALL argu; ``` ```txt // Enable asynchronous mode. Bit 11 set to "1" ``` ```txt ret = APS_initial(&boardIDInBit, 0x800); ``` ```txt APS_set_axis_param_f(Master_Axis_ID, PRA_SF, 0.5); //Set S-curve ``` ```c APS_set_axis_param_f(Master_Axis_ID, PRA_ACC, 50000.0); //Set acceleration ``` ```c APS_set_axis_param_f(Master_Axis_ID, PRA_DEC, 50000.0); //Set deceleration ``` APS\_set\_axis\_param\_f( Master\_Axis\_ID, PRA\_VM, 10000.0 ); //Set maximum speed // Executing asynchronous move API argu.u8\_asyncMode = 1; ret = APS\_arc3\_ca( Axis\_ID\_Array, option, Center\_Pos\_Array, NormalVec, Angle, &TransPara, &argu ); See also： # APS\_arc3\_ca\_v Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to execute a 3D arc interpolation of angle type, named \_arc3\_ca. It follows with angle, center position and normal vector. The \_v suffix represents that only one motion profile, that is Vm, is necessary to perform a 3D arc interpolation. Other motion profiles are set in axis parameters. User could refer to axis parameter table for the details. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_arc3\_ca\_v( I32 \*Axis\_ID\_Array, I32 Option, F64 \*CenterArray, F64 \*NormalArray, F64 Angle, F64 \*TransPara, F64 Vm, ASYNCALL \*Wait ); Visual Basic： APS\_arc3\_ca\_v( Axis\_ID\_Array As Long, ByVal Option As Long, CenterArray As Double, NormalArray As Double, ByVal Angle As Double, TransPara As Double, ByVal Vm As Double, Wait As ASYNCALL) As Long # Parameters： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
7654321Bit : 0
Absolute(0) / Relative(1)
15141312111098
Buffer modeWait trigger
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting – stop and blend (TransPara\_0 as deceleration. [dec >0 ], if dec <= 0, kernel takes new coming deceleration. ) 0001b(1)： Aborting – force abort 0010b(2)： Reserved. Note： if setting to mode 2, it will return error code. 0011b(3)： Buffered 0100b(4)： Blending – Deceleration event 0101b(5)： Blending – Residue distance (TransPara\_0 as residue distance >= 0.0 ) 0110b(6)： Blending – Residue distance in travel distance’s percentage (TransPara\_0 as residue distance % value range： 0.0 \~ 1.0 ) Bit 16\~： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 \* NormalArray： A pointer indicates the starting address of normal vector array. F64 Angle： A value specifies the angle. Unit in radian. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. F64 Vm： A value specifies the maximum velocity. For PCI-8254/58 / AMP-204/8C ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x only ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Example： For asynchronous move API call(PCIe-833x only) I32 ret = 0, boardIDInBit = 0, option = 0; I32 Master\_Axis\_ID = 0; I32 Axis\_ID\_Array[3] = {0, 1, 2}; //Axis ID 0 is master axis. F64 Center\_Pos\_Array[3] = {10000.0, 10000.0, 0.0}; F64 NormalVec[3] = {0, 0, 1}; F64 Angle = 180 \* (2\*PI / 360); F64 Vm = 10000.0; F64 TransPara = 0; ASYNCALL argu; // Enable asynchronous mode. Bit 11 set to “1” ret = APS\_initial( &boardIDInBit, 0x800 ); ```txt APS_set_axis_param_f( Master_Axis_ID, PRA_SF, 0.5 ); //Set S-curve APS_set_axis_param_f( Master_Axis_ID, PRA_ACC, 50000.0 ); //Set acceleration APS_set_axis_param_f( Master_Axis_ID, PRA_DEC, 50000.0 ); //Set deceleration ``` ```txt // Executing asynchronous move API argu.u8_asyncMode = 1; ret = APS_arc3_ca_v( Axis_ID_Array, option, Center_Pos_Array, NormalVec, Angle, &TransPara, Vm, &argu ); ``` See also： # APS\_arc3\_ca\_all Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to execute a 3D arc interpolation of angle type, named \_arc3\_ca. It follows with angle, center position and normal vector. The \_all suffix represents that all motion profiles, including Vs, Vm, Ve, Acc, Dec and SFac, are necessary to perform a 3D arc interpolation. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_arc3\_ca\_all( I32 \*Axis\_ID\_Array, I32 Option, F64 \*CenterArray, F64 \*NormalArray, F64 Angle, F64 \*TransPara, F64 Vs, F64 Vm, F64 Ve, F64 Acc,F64 Dec, F64 SFac, ASYNCALL \*Wait ); Visual Basic： APS\_arc3\_ca\_all( Axis\_ID\_Array As Long, ByVal Option As Long, CenterArray As Double, NormalArray As Double, ByVal Angle As Double, TransPara As Double, ByVal Vs As Double, ByVal Vm As Double, ByVal Ve As Double, ByVal Acc As Double, ByVal Dec As Double, ByVal SFac As Double, Wait As ASYNCALL) As Long # Parameters： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
7654321Bit : 0
Absolute(0) / Relative(1)
15141312111098
Buffer modeWait trigger
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting – stop and blend (TransPara\_0 as deceleration. [dec >0 ], if dec <= 0, kernel takes new coming deceleration. ) 0001b(1)： Aborting – force abort 0010b(2)： Reserved. Note： if setting to mode 2, it will return error code. 0011b(3)： Buffered 0100b(4)： Blending – Deceleration event 0101b(5)： Blending – Residue distance (TransPara\_0 as residue distance >= 0.0 ) 0110b(6)： Blending – Residue distance in travel distance’s percentage (TransPara\_0 as residue distance % value range： 0.0 \~ 1.0 ) Bit 16\~： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 \*NormalArray： A pointer indicates the starting address of normal vector array. F64 Angle： A value specifies the angle. Unit in radian. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. F64 Vs： A value specifies the starting velocity. F64 Vm： A value specifies the maximum velocity. F64 Ve： A value specifies the ending velocity. F64 Acc： A value specifies the acceleration. F64 Dec： A value specifies the deceleration. F64 SFac： A value specifies the s factor. For PCI-8254/58 / AMP-204/8C ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x only ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Example： For asynchronous move API call(PCIe-833x only) I32 ret = 0, boardIDInBit = 0, option = 0; I32 Master\_Axis\_ID = 0; I32 Axis\_ID\_Array[3] = {0, 1, 2}; //Axis ID 0 is master axis. F64 Center\_Pos\_Array[3] = {10000.0, 10000.0, 0.0}; F64 NormalVec[3] = {0, 0, 1}; F64 Angle = 180 \* (2\*PI / 360); F64 Vs = 0.0, Vm = 10000.0, Ve = 0.0, Acc = 50000.0, Dec = 50000.0, Sf = 0.5; F64 TransPara = 0; ASYNCALL argu; // Enable asynchronous mode. Bit 11 set to “1” ret = APS\_initial( &boardIDInBit, 0x800 ); // Executing asynchronous move API argu.u8\_asyncMode = 1; ret = APS\_arc3\_ca\_all( Axis\_ID\_Array, option, Center\_Pos\_Array, NormalVec, Angle, &TransPara, Vs, Vm, Ve, Acc, Dec, Sf, &argu ); See also： # APS\_arc3\_ce Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to execute a 3D arc interpolation of end position type, named \_arc3\_ce. It follows with center position, end position and Dir. No any suffix represents that no any motion profile is necessary to perform a 3D arc interpolation. Other motion profiles are set in axis parameters. User could refer to axis parameter table for the details. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_arc3\_ce( I32 \*Axis\_ID\_Array, I32 Option, F64 \*CenterArray, F64 \*EndArray, I16 Dir, F64 \*TransPara, ASYNCALL \*Wait ); Visual Basic： I32 FNTYPE APS\_arc3\_ce( Axis\_ID\_Array As Long, ByVal Option As Long, CenterArray As Double, EndArray As Double, ByVal Dir As Short, TransPara As Double, Wait As ASYNCALL) As Long # Parameters： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
7654321Bit : 0
Absolute(0) / Relative(1)
15141312111098
Buffer modeWait trigger
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting – stop and blend (TransPara\_0 as deceleration. [dec >0 ], if dec <= 0, kernel takes new coming deceleration. ) 0001b(1)： Aborting – force abort 0010b(2)： Reserved. Note： if setting to mode 2, it will return error code. 0011b(3)： Buffered 0100b(4)： Blending – Deceleration event 0101b(5)： Blending – Residue distance (TransPara\_0 as residue distance >= 0.0 ) 0110b(6)： Blending – Residue distance in travel distance’s percentage( TransPara\_0 as residuedistance % value range： 0.0 \~ 1.0 ) Bit 16\~： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 \*EndArray： A pointer indicates the starting address of end array. I16 Dir： A value specifies the rotate direction. If dir set 0 means rotate in positive direction, dir = -1 rotate in negative direction. The total rotate angle = theta + Dir x 2PI, where theta is the angle of two vectors： center to start and center to end. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. For PCI-8254/58 / AMP-204/8C ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x only ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Example： For asynchronous move API call(PCIe-833x only) I32 ret = 0, boardIDInBit = 0, option = 0; I32 Dir = 0; I32 Master\_Axis\_ID = 0; I32 Axis\_ID\_Array[3] = {0, 1, 2}; //Axis ID 0 is master axis. F64 Center\_Pos\_Array[3] = {10000.0, 10000.0, 0.0}; F64 End\_Pos\_Array[3] = {10000.0, 10000.0, 10000.0 \* 1.414}; F64 TransPara = 0; ASYNCALL argu; // Enable asynchronous mode. Bit 11 set to “1” ret = APS\_initial( &boardIDInBit, 0x800 ); ```c APS_set_axis_param_f( Master_Axis_ID, PRA_SF, 0.5 ); //Set S-curve APS_set_axis_param_f( Master_Axis_ID, PRA_ACC, 50000.0 ); //Set acceleration APS_set_axis_param_f( Master_Axis_ID, PRA_DEC, 50000.0 ); //Set deceleration APS_set_axis_param_f( Master_Axis_ID, PRA_VM, 10000.0 ); // Set maximum speed ``` ```txt // Executing asynchronous move API argu.u8_asyncMode = 1; ret = APS_arc3_ce( Axis_ID_Array, option, Center_Pos_Array, End_Pos_Array, Dir, &TransPara, &argu ); ``` See also： # APS\_arc3\_ce\_v Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to execute a 3D arc interpolation of end position type, named \_arc3\_ce. It follows with center position, end position and Dir. The \_v suffix represents that only one motion profile, that is Vm, is necessary to perform a 3D arc interpolation. Other motion profiles are set in axis parameters. User could refer to axis parameter table for the details. # Syntax： $$ C / C + +: $$ I32 FNTYPE APS\_arc3\_ce\_v( I32 \*Axis\_ID\_Array, I32 Option, F64 \*CenterArray, F64 \*EndArray, I16 Dir, F64 \*TransPara, F64 Vm, ASYNCALL \*Wait ); Visual Basic： APS\_arc3\_ce\_v( Axis\_ID\_Array As Long, ByVal Option As Long, CenterArray As Double, EndArray As Double, ByVal Dir As Short, TransPara As Double, ByVal Vm As Double, Wait As ASYNCALL) As Long # Parameters： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
7654321Bit : 0
Absolute(0) / Relative(1)
15141312111098
Buffer modeWait trigger
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting – stop and blend (TransPara\_0 as deceleration. [dec >0 ], if dec <= 0, kernel takes new coming deceleration. ) 0001b(1)： Aborting – force abort 0010b(2)： Reserved. Note： if setting to mode 2, it will return error code. 0011b(3)： Buffered 0100b(4)： Blending – Deceleration event 0101b(5)： Blending – Residue distance (TransPara\_0 as residue distance >= 0.0 ) 0110b(6)： Blending – Residue distance in travel distance’s percentage( TransPara\_0 as residuedistance % value range： 0.0 \~ 1.0 ) Bit 16\~： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 \*EndArray： A pointer indicates the starting address of end array. I16 Dir： A value specifies the rotate direction. If dir set 0 means rotate in positive direction, dir = -1 rotate in negative direction. The total rotate angle = theta + Dir x 2PI, where theta is the angle of two vectors： center to start and center to end. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. F64 Vm： A value specifies the maximum velocity. For PCI-8254/58 / AMP-204/8C ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x only ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Example： For asynchronous move API call(PCIe-833x only) ```c I32 ret = 0, boardIDInBit = 0, option = 0; I32 Dir = 0; I32 Master_Axis_ID = 0; I32 Axis_ID_Array[3] = {0, 1, 2}; //Axis ID 0 is master axis. F64 Center_Pos_Array[3] = {10000.0, 10000.0, 0.0}; F64 End_Pos_Array[3] = {10000.0, 10000.0, 10000.0 * 1.414}; F64 Vm = 10000.0; F64 TransPara = 0; ASYNCALL argu; // Enable asynchronous mode. Bit 11 set to "1" ret = APS_initial(&boardIDInBit, 0x800); ``` APS\_set\_axis\_param\_f( Master\_Axis\_ID, PRA\_SF, 0.5 ); //Set S-curve APS\_set\_axis\_param\_f( Master\_Axis\_ID, PRA\_ACC, 50000.0 ); //Set acceleration APS\_set\_axis\_param\_f( Master\_Axis\_ID, PRA\_DEC, 50000.0 ); //Set deceleration // Executing asynchronous move API argu.u8\_asyncMode = 1; ret = APS\_arc3\_ce\_v( Axis\_ID\_Array, option, Center\_Pos\_Array, End\_Pos\_Array, Dir, &TransPara, Vm, &argu ); See also： # APS\_arc3\_ce\_all Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to execute a 3D arc interpolation of end position type, named \_arc3\_ce. It follows with center position, end position and Dir. The \_all suffix represents that all motion profiles, including Vs, Vm, Ve, Acc, Dec and SFac, are necessary to perform a 3D arc interpolation. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_arc3\_ce\_all( I32 \*Axis\_ID\_Array, I32 Option, F64 \*CenterArray, F64 \*EndArray, I16 Dir, F64 \*TransPara, F64 Vs, F64 Vm, F64 Ve, F64 Acc,F64 Dec, F64 SFac, ASYNCALL \*Wait ); Visual Basic： APS\_arc3\_ce\_all( Axis\_ID\_Array As Long, ByVal Option As Long, CenterArray As Double, EndArray As Double, ByVal Dir As Short, TransPara As Double, ByVal Vs As Double, ByVal Vm As Double, ByVal Ve As Double, ByVal Acc As Double, ByVal Dec As Double, ByVal SFac As Double, Wait As ASYNCALL) As Long # Parameters： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
7654321Bit : 0
Absolute(0) / Relative(1)
15141312111098
Buffer modeWait trigger
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting – stop and blend (TransPara\_0 as deceleration. [dec >0 ], if dec <= 0, kernel takes new coming deceleration. ) 0001b(1)： Aborting – force abort 0010b(2)： Reserved. Note： if setting to mode 2, it will return error code. 0011b(3)： Buffered 0100b(4)： Blending – Deceleration event 0101b(5)： Blending – Residue distance (TransPara\_0 as residue distance >= 0.0 ) 0110b(6)： Blending – Residue distance in travel distance’s percentage( TransPara\_0 as residuedistance % value range： 0.0 \~ 1.0 ) Bit 16\~： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 \*EndArray： A pointer indicates the starting address of end array. I16 Dir： A value specifies the rotate direction. If dir set 0 means rotate in positive direction, dir = -1 rotate in negative direction. The total rotate angle = theta + Dir x 2PI, where theta is the angle of two vectors： center to start and center to end. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. F64 Vs： A value specifies the starting velocity. F64 Vm： A value specifies the maximum velocity. F64 Ve： A value specifies the ending velocity. F64 Acc： A value specifies the acceleration. F64 Dec： A value specifies the deceleration. F64 SFac： A value specifies the s factor. For PCI-8254/58 / AMP-204/8C ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x only ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Example： For asynchronous move API call(PCIe-833x only) I32 ret = 0, boardIDInBit = 0, option = 0; I32 Dir = 0; I32 Master\_Axis\_ID = 0; I32 Axis\_ID\_Array[3] = {0, 1, 2}; //Axis ID 0 is master axis. F64 Center\_Pos\_Array[3] = {10000.0, 10000.0, 0.0}; F64 End\_Pos\_Array[3] = {10000.0, 10000.0, 10000.0 \* 1.414}; F64 Vs = 0.0, Vm = 10000.0, Ve = 0.0, Acc = 50000.0, Dec = 50000.0, Sf = 0.5; F64 TransPara = 0; ASYNCALL argu; // Enable asynchronous mode. Bit 11 set to “1” ret = APS\_initial( &boardIDInBit, 0x800 ); // Executing asynchronous move API argu.u8\_asyncMode = 1; ret = APS\_arc3\_ce\_all( Axis\_ID\_Array, option, Center\_Pos\_Array, End\_Pos\_Array, Dir, &TransPara, Vs, Vm, Ve, Acc, Dec, Sf, &argu ); See also： # APS\_spiral\_ca Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to execute a 3D spiral-helix interpolation of angle type, named \_spiral\_ca. It follows with angle, center position, normal vector, DeltaH and FinalR. No any suffix represents that no any motion profile is necessary to perform a 3D spiral-helix interpolation. Other motion profiles are set in axis parameters. User could refer to axis parameter table for the details. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_spiral\_ca( I32 \*Axis\_ID\_Array, I32 Option, F64 \*CenterArray, F64 \*NormalArray, F64 Angle, F64 DeltaH, F64 FinalR, F64 \*TransPara, ASYNCALL \*Wait ); Visual Basic： APS\_ spiral\_ca( Axis\_ID\_Array As Long, ByVal Option As Long, CenterArray As Double, NormalArray As Double, ByVal Angle As Double, ByVal DeltaH As Double, ByVal FinalR As Double, TransPara As Double, Wait As ASYNCALL) As Long # Parameters： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
7654321Bit : 0
Absolute(0) / Relative(1)
15141312111098
Buffer modeWait trigger
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting – stop and blend (TransPara\_0 as deceleration. [dec >0 ], if dec <= 0, kernel takes new coming deceleration. ) 0001b(1)： Aborting – force abort 0010b(2)： Reserved. Note： if setting to mode 2, it will return error code. 0011b(3)： Buffered 0100b(4)： Blending – Deceleration event 0101b(5)： Blending – Residue distance (TransPara\_0 as residue distance >= 0.0 ) 0110b(6)： Blending – Residue distance in travel distance’s percentage (TransPara\_0 as residue distance % value range： 0.0 \~ 1.0 ) Bit 16\~： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 \*NormalArray： A pointer indicates the starting address of normal vector array. F64 Angle： A value specifies the angle. Unit in radian. F64 DeltaH： A value specifies the height. F64 FinalR： A value specifies the distant from end position to normal vector. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. For PCI-8254/58 / AMP-204/8C ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x only ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Example： For asynchronous move API call(PCIe-833x only) ```c I32 ret = 0, boardIDInBit = 0, option = 0; I32 Master_Axis_ID = 0; I32 Axis_ID_Array[3] = {0, 1, 2}; //Axis ID 0 is master axis. F64 Center_Pos_Array[3] = {10000.0, 10000.0, 0.0}; F64 NorVector[3] = {0, 0, 1}; F64 Angel = (720.0 * PI / 180.0); F64 DeltaH = 500.0, FinalR = 200.0; F64 TransPara = 0; ASYNCALL argu; // Enable asynchronous mode. Bit 11 set to "1" ret = APS_initial(&boardIDInBit, 0x800); ``` ```c APS_set_axis_param_f( Master_Axis_ID, PRA_SF, 0.5 ); //Set S-curve APS_set_axis_param_f( Master_Axis_ID, PRA_ACC, 50000.0 ); //Set acceleration APS_set_axis_param_f( Master_Axis_ID, PRA_DEC, 50000.0 ); //Set deceleration APS_set_axis_param_f( Master_Axis_ID, PRA_VM, 10000.0 ); // Set maximum speed ``` ```txt // Executing asynchronous move API argu.u8_asyncMode = 1; ret = APS_spiral_ca(Axis_ID_Array, option, Center_Pos_Array, NorVector, Angel, DeltaH, FinalR, &TransPara, &argu); ``` See also： # APS\_spiral\_ca\_v Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x # Descriptions： This function is used to execute a 3D spiral-helix interpolation of angle type, named \_spiral\_ca. It follows with angle, center position, normal vector, DeltaH and FinalR. The \_v suffix represents that only one motion profile, that is Vm, is necessary to perform a 3D spiral-helix interpolation. Other motion profiles are set in axis parameters. User could refer to axis parameter table for the details. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_spiral\_ca\_v( I32 \*Axis\_ID\_Array, I32 Option, F64 \*CenterArray, F64 \*NormalArray, F64 Angle, F64 DeltaH, F64 FinalR, F64 \*TransPara, F64 Vm, ASYNCALL \*Wait ); Visual Basic： APS\_spiral\_ca\_v( Axis\_ID\_Array As Long, ByVal Option As Long, CenterArray As Double, NormalArray As Double, ByVal Angle As Double, ByVal DeltaH As Double, ByVal FinalR As Double, TransPara As Double, ByVal Vm As Double, Wait As ASYNCALL) As Long # Parameters： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
7654321Bit : 0
Absolute(0) / Relative(1)
15141312111098
Buffer modeWait trigger
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting – stop and blend (TransPara\_0 as deceleration. [dec >0 ], if dec <= 0, kernel takes new coming deceleration. ) 0001b(1)： Aborting – force abort 0010b(2)： Reserved. Note： if setting to mode 2, it will return error code. 0011b(3)： Buffered 0100b(4)： Blending – Deceleration event 0101b(5)： Blending – Residue distance (TransPara\_0 as residue distance >= 0.0 ) 0110b(6)： Blending – Residue distance in travel distance’s percentage (TransPara\_0 as residue distance % value range： 0.0 \~ 1.0 ) Bit 16\~： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 \*NormalArray： A pointer indicates the starting address of normal vector array. F64 Angle： A value specifies the angle. Unit in radian. F64 DeltaH： A value specifies the height. F64 FinalR： A value specifies the distant from end position to normal vector. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. F64 Vm： A value specifies the maximum velocity. For PCI-8254/58 / AMP-204/8C ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x only ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Example： For asynchronous move API call(PCIe-833x only) I32 ret = 0, boardIDInBit = 0, option = 0; I32 Master\_Axis\_ID = 0; I32 Axis\_ID\_Array[3] = {0, 1, 2}; //Axis ID 0 is master axis. F64 Center\_Pos\_Array[3] = {10000.0, 10000.0, 0.0}; F64 NorVector[3] = {0, 0, 1}; F64 Angel = ( 720.0 \* PI / 180.0 ); F64 DeltaH = 500.0, FinalR = 200.0, Vm = 10000.0; F64 TransPara = 0; ASYNCALL argu; // Enable asynchronous mode. Bit 11 set to “1” ```txt ret = APS_initial(&boardIDInBit, 0x800); ``` ```txt APS_set_axis_param_f( Master_Axis_ID, PRA_SF, 0.5 ); //Set S-curve APS_set_axis_param_f( Master_Axis_ID, PRA_ACC, 50000.0 ); //Set acceleration APS_set_axis_param_f( Master_Axis_ID, PRA_DEC, 50000.0 ); //Set deceleration ``` ```txt // Executing asynchronous move API argu.u8_asyncMode = 1; ret = APS_spiral_ca_v( Axis_ID_Array, option, Center_Pos_Array, NorVector, Angel, DeltaH, FinalR, &TransPara, Vm, &argu ); ``` See also： # APS\_spiral\_ca\_all Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to execute a 3D spiral-helix interpolation of angle type, named \_spiral\_ca. It follows with angle, center position, normal vector, DeltaH and FinalR. The \_all suffix represents that all motion profiles, including Vs, Vm, Ve, Acc, Dec and SFac, are necessary to perform a 3D spiral-helix interpolation. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_spiral\_ca\_all( I32 \*Axis\_ID\_Array, I32 Option, F64 \*CenterArray, F64 \*NormalArray, F64 Angle, F64 DeltaH, F64 FinalR, F64 \*TransPara, F64 Vs, F64 Vm, F64 Ve, F64 Acc,F64 Dec, F64 SFac, ASYNCALL \*Wait ); Visual Basic： APS\_spiral\_ca\_all( Axis\_ID\_Array As Long, ByVal Option As Long, CenterArray As Double, NormalArray As Double, ByVal Angle As Double, F64 DeltaH, F64 FinalR, TransPara As Double, ByVal Vs As Double, ByVal Vm As Double, ByVal Ve As Double, ByVal Acc As Double, ByVal Dec As Double, ByVal SFac As Double, Wait As ASYNCALL) As Long # Parameters： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
7654321Bit : 0
Absolute(0) / Relative(1)
15141312111098
Buffer modeWait trigger
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting – stop and blend (TransPara\_0 as deceleration. [dec >0 ], if dec <= 0, kernel takes new coming deceleration. ) 0001b(1)： Aborting – force abort 0010b(2)： Reserved. Note： if setting to mode 2, it will return error code. 0011b(3)： Buffered 0100b(4)： Blending – Deceleration event 0101b(5)： Blending – Residue distance (TransPara\_0 as residue distance >= 0.0 ) 0110b(6)： Blending – Residue distance in travel distance’s percentage (TransPara\_0 as residue distance % value range： 0.0 \~ 1.0 ) Bit 16\~： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 \*NormalArray： A pointer indicates the starting address of normal vector array. F64 Angle： A value specifies the angle. Unit in radian. F64 DeltaH： A value specifies the height. F64 FinalR： A value specifies the distant from end position to normal vector. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. F64 Vs： A value specifies the starting velocity. F64 Vm： A value specifies the maximum velocity. F64 Ve： A value specifies the ending velocity. F64 Acc： A value specifies the acceleration. F64 Dec： A value specifies the deceleration. F64 SFac： A value specifies the s factor. For PCI-8254/58 / AMP-204/8C ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x only ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Example： For asynchronous move API call(PCIe-833x only) I32 ret = 0, boardIDInBit = 0, option = 0; I32 Master\_Axis\_ID = 0; I32 Axis\_ID\_Array[3] = {0, 1, 2}; //Axis ID 0 is master axis. F64 Center\_Pos\_Array[3] = {10000.0, 10000.0, 0.0}; F64 NorVector[3] = {0, 0, 1}; F64 Angel = ( 720.0 \* PI / 180.0 ); ```matlab F64 DeltaH = 500.0, FinalR = 200.0; F64 Vs = 0.0, Vm = 10000.0, Ve = 0.0, Acc = 50000.0, Dec = 50000.0, Sf = 0.5; F64 TransPara = 0; ASYNCALL argu; ``` ```txt // Enable asynchronous mode. Bit 11 set to "1" ret = APS_initial(&boardIDInBit, 0x800); ``` ```rust // Executing asynchronous move API argu.u8_asyncMode = 1; ret = APS_spiral_ca_all( Axis_ID_Array, option, Center_Pos_Array, NorVector, Angel, DeltaH, FinalR, &TransPara, Vs, Vm, Ve, Acc, Dec, Sf, &argu ); ``` See also： # APS\_spiral\_ce Support Products： PCI(e)-8154/58 , PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT,AMP-304C, PCIe-8364RS # Descriptions： This function is used to execute a 3D spiral-helix interpolation of end position type, named \_spiral\_ce. It follows with center position, normal vector, end position and Dir. No any suffix represents that no any motion profile is necessary to perform a 3D spiral-helix interpolation. Other motion profiles are set in axis parameters. User could refer to axis parameter table for the details. Base on PCI(e)-8154/58, AMP-304C, this function support 1 fixed radius circular interpolation and synchronized linear travel in normal axis. The rotate angle is the theta of two vectors： center to start and center to end. Unlike PCIe–8338 and PCI-8254/58 with soft motion base, the circular interpolation angle range only has -360∘to 360 ∘. That means spiral curve only has 1 pitch, just like helical curve. Note ： Due to 8154/58 limit, 4th / 8th axis operation will be a dummy motion and it can’t be used for any other puspose. This axis need to be set servo-off. If not, it will return ERR\_InServoOnState(-48) e.g. PCI(e)-8154, choose {0,1,2} be APS\_spiral\_ce\_v(), axis 3 operation is always a dummy motion and it cannot be added into \*Axis\_ID\_Array. PCI(e)-8158, choose {4,5,6} be APS\_spiral\_ce\_v(), axis 7 operation is always a dummy motion and it cannot be added into \*Axis\_ID\_Array. # Syntax： C/C++： I32 FNTYPE APS\_spiral\_ce( I32 \*Axis\_ID\_Array, I32 Option, F64 \*CenterArray, F64 \*NormalArray, F64 \*EndArray, I16 Dir, F64 \*TransPara, ASYNCALL \*Wait ); Visual Basic： I32 FNTYPE APS\_spiral\_ce( Axis\_ID\_Array As Long, ByVal Option As Long, CenterArray As Double, NormalArray As Double, EndArray As Double, ByVal Dir As Short, TransPara As Double, Wait As ASYNCALL) As Long # Parameters： For PCI(e)-8154/58, AMP-304C： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. Note： The axes specified in Axis\_ID\_Array must be of the same card. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
76543210
Absolute(0) / Relative(1)
15141312111098
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~15： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 \*NormalArray： A pointer indicates the starting address of the normal vector array. F64 \*EndArray： A pointer indicates the starting address of end array. I16 Dir： A value specifies the rotate direction. If Dir >= 0 means rotate in positive direction(counterclockwise), Dir <= -1 (clockwise) rotate in negative direction. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. Note： It is reserved for future. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. For PCI-8254/58 / AMP-204/8C and PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. I32 Option： A bit set specifies the option, which could enable specified parameters and functions. <table>7654321Bit : 0Absolute(0) / Relative(1)15141312111098Buffer modeWait trigger Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting – stop and blend (TransPara\_0 as deceleration. [dec >0 ], if dec <= 0, kernel takes new coming deceleration. ) 0001b(1)： Aborting – force abort 0010b(2)： Reserved. Note： if setting to mode 2, it will return error code. 0011b(3)： Buffered 0100b(4)： Blending – Deceleration event 0101b(5)： Blending – Residue distance (TransPara\_0 as residue distance >= 0.0 ) 0110b(6)： Blending – Residue distance in travel distance’s percentage( TransPara\_0 as residuedistance % value range： 0.0 \~ 1.0 ) Bit 16\~： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 \*NormalArray： A pointer indicates the starting address of the normal vector array. F64 \*EndArray： A pointer indicates the starting address of end array. I16 Dir： A value specifies the rotate direction. If dir set 0 means rotate in positive direction, dir = -1 rotate in negative direction. The total rotate angle = theta + Dir x 2PI, where theta is the angle of two vectors： center to start and center to end. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. For PCI-8254/58 / AMP-204/8C ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x only ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Below example is for PCI(e)-8154/58 I32 opt = 1; //relative mode I32 Axis\_ID\_Array[3] = {0, 1, 2}; F64 NormalArray[3] = { 0, 1, 0 }; // choose axis 1 is vertical axis F64 Center\_Pos\_Array[2] = {10000, 0, 20000}; F64 End\_Pos\_array[2] = {20000, 20000, 40000}; // height = End\_Pos\_array[1] - Center\_Pos\_Array[1] I16 Dir = 1; // rotate counterclockwise F64 TransPara = 0; ASYNCALL \*wait = NULL; APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_CURVE, 1 ); //Set S-curve APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_ACC, 100000 ); //Set acceleration APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_DEC, 100000 ); //Set deceleration APS\_spiral\_ce ( Axis\_ID\_Array // I32 \*Axis\_ID\_Array , opt // I32 Option , Center\_Pos\_Array // F64 \* CenterArray , NormalArray // F64 \* NormalArray , End\_Pos\_array // F64 \* Enday , Dir // I16 Dir , &TransPara // reserved , wait ); // reserved Description： Initial： Start point： 0, 0, 0 Input： Option： 1( Relative) Center point (relative to start point)： 10000, 0, 20000 Normal vector： 0, 1, 0 (to positive y-axis) End point： 20000, 20000, 40000 Output： Theta： 180∘, counterclockwise R： sqrt(10000\*10000 + 20000\*20000) Height = 20000 ![| x | y |\n|-------|-------|\n| 0 | 0 |\n| 10000 | 20000 |\n| 30000 | 20000 |\n| 35000 | 15000 |\n| 40000 | 10000 |\n| 45000 | 5000 |\n| 50000 | 0 |](.aps-functionlibrary-v2-1/9fcac9ebe023fafed98e60e5f5399b523360156f91d4a6d4e66ae2d10a0aca3b.jpg) XZ plane ![| x | y |\n| ------ | ----- |\n| 0 | 0 |\n| 5000 | 2500 |\n| 10000 | 5000 |\n| 15000 | 7500 |\n| 20000 | 10000 |\n| 25000 | 12500 |\n| 30000 | 15000 |\n| 35000 | 17500 |](.aps-functionlibrary-v2-1/1abd4fe052f74823fe7f19c0565f5de08feae815ec6f41707a6936d24ab95fe4.jpg) XY plane ![| x | y |\n| ------ | ------ |\n| 0 | 0 |\n| 10000 | 25000 |\n| 20000 | 25000 |\n| 30000 | 25000 |\n| 40000 | 25000 |](.aps-functionlibrary-v2-1/5e4bcfd406c7b279c15c1c469697ccc79ace3d0414db349138bb5fec2998b846.jpg) 3D view Example： For asynchronous move API call(PCIe-833x only) ```c I32 ret = 0, boardIDInBit = 0, option = 0; I32 Dir = 0; I32 Master_Axis_ID = 0; I32 Axis_ID_Array[3] = {0, 1, 2}; //Axis ID 0 is master axis. F64 Center_Pos_Array[3] = {10000.0, 10000.0, 0.0}; F64 NorVector[3] = {0, 0, 1}; F64 End_Pos_Array[3] = {10000.0, 20000.0, 100000.0}; F64 TransPara = 0; ASYNCALL argu; ``` ```txt // Enable asynchronous mode. Bit 11 set to "1" ret = APS_initial(&boardIDInBit, 0x800); ``` ```c APS_set_axis_param_f( Master_Axis_ID, PRA_SF, 0.5 ); //Set S-curve APS_set_axis_param_f( Master_Axis_ID, PRA_ACC, 50000.0 ); //Set acceleration APS_set_axis_param_f( Master_Axis_ID, PRA_DEC, 50000.0 ); //Set deceleration APS_set_axis_param_f( Master_Axis_ID, PRA_VM, 10000.0 ); // Set maximum speed ``` ```c // Executing asynchronous move API argu.u8_asyncMode = 1; ret = APS_spiral_ce( Axis_ID_Array, option, Center_Pos_Array, NorVector, End_Pos_Array, Dir, &TransPara, &argu ); ``` See also： ```txt APS_absolute_helical_move();APS_relative_helical_move() ``` # APS\_spiral\_ce\_v Support Products： PCI(e)-8154/58 , PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT,AMP-304C, PCIe-8364RS # Descriptions： This function is used to execute a 3D spiral-helix interpolation of end position type, named \_spiral\_ce. It follows with center position, normal vector, end position and Dir. The \_v suffix represents that only one motion profile, that is Vm, is necessary to perform a 3D spiral-helix interpolation. Other motion profiles are set in axis parameters. User could refer to axis parameter table for the details. Base on PCI(e)-8154/58, AMP-304C, this function support 1 fixed radius circular interpolation and synchronized linear travel in normal axis. The rotate angle is the theta of two vectors： center to start and center to end. Unlike PCIe–8338 and PCI-8254/58 with soft motion base, the circular interpolation angle range only has -360∘to 360 ∘. That means spiral curve only has 1 pitch, just like helical curve. Note ： Due to 8154/58 limit, 4th / 8th axis operation will be a dummy motion and it can’t be used for any other puspose. This axis need to be set servo-off. If not, it will return ERR\_InServoOnState(-48) e.g. PCI(e)-8154, choose {0,1,2} be APS\_spiral\_ce\_v(), axis 3 operation is always a dummy motion and it cannot be added into \*Axis\_ID\_Array. PCI(e)-8158, choose {4,5,6} be APS\_spiral\_ce\_v(), axis 7 operation is always a dummy motion and it cannot be added into \*Axis\_ID\_Array. Syntax： C/C++： I32 FNTYPE APS\_spiral\_ce\_v( I32 \*Axis\_ID\_Array, I32 Option, F64 \*CenterArray, F64 \*NormalArray, F64 \*EndArray, I16 Dir, F64 \*TransPara, F64 Vm, ASYNCALL \*Wait ); Visual Basic： APS\_spiral\_ce\_v( Axis\_ID\_Array As Long, ByVal Option As Long, CenterArray As Double, NormalArray As Double, EndArray As Double, ByVal Dir As Short, TransPara As Double, ByVal Vm As Double, Wait As ASYNCALL) As Long # Parameters： For PCI(e)-8154/58, AMP-304C： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. Note： The axes specified in Axis\_ID\_Array must be of the same card. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
76543210
Absolute(0) /
Relative(1)
15141312111098
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~15： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 \*NormalArray： A pointer indicates the starting address of the normal vector array. F64 \*EndArray： A pointer indicates the starting address of end array. I16 Dir： A value specifies the rotate direction. If Dir >= 0 means rotate in positive direction(counterclockwise), Dir <= -1 (clockwise) rotate in negative direction. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. Note： It is reserved for future. F64 Vm： A value specifies the maximum velocity. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. For PCI-8254/58 / AMP-204/8C and PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. I32 Option： A bit set specifies the option, which could enable specified parameters and functions. <table>7654321Bit : 0Absolute(0) / Relative(1)15141312111098Buffer modeWait trigger Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting – stop and blend (TransPara\_0 as deceleration. [dec >0 ], if dec <= 0, kernel takes new coming deceleration. ) 0001b(1)： Aborting – force abort 0010b(2)： Reserved. Note： if setting to mode 2, it will return error code. 0011b(3)： Buffered 0100b(4)： Blending – Deceleration event 0101b(5)： Blending – Residue distance (TransPara\_0 as residue distance >= 0.0 ) 0110b(6)： Blending – Residue distance in travel distance’s percentage( TransPara\_0 as residuedistance % value range： 0.0 \~ 1.0 ) Bit 16\~： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 \*NormalArray： A pointer indicates the starting address of the normal vector array. F64 \*EndArray： A pointer indicates the starting address of end array. I16 Dir： A value specifies the rotate direction. If dir set 0 means rotate in positive direction, dir = -1 rotate in negative direction. The total rotate angle = theta + Dir x 2PI, where theta is the angle of two vectors： center to start and center to end. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. F64 Vm： A value specifies the maximum velocity. For PCI-8254/58 / AMP-204/8C ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x only ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Below example is for PCI(e)-8154/58 I32 opt = 1; //relative mode I32 Axis\_ID\_Array[3] = {0, 1, 2}; F64 NormalArray[3] = { 0, 1, 0 }; // choose axis 1 is vertical axis F64 Center\_Pos\_Array[2] = {10000, 0, 20000}; F64 End\_Pos\_array[2] = {20000, 20000, 40000}; I16 Dir = 1; // rotate counterclockwise F64 TransPara = 0; F64 Vm = 10000; ASYNCALL \*wait = NULL; APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_CURVE, 1 ); //Set S-curve APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_ACC, 100000 ); //Set acceleration APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_DEC, 100000 ); //Set deceleration APS\_spiral\_ce\_v ( ```txt Axis_ID_Array // I32 *Axis_ID_Array , opt // I32 Option , Center_Pos_Array // F64 * CenterArray , NormalArray // F64 * NormalArray , End_Pos_array // F64 * Enday , Dir // I16 Dir , &TransPara // reserved , Vm // Vm , wait ); // reserved ``` Example： For asynchronous move API call(PCIe-833x only) ```c I32 ret = 0, boardIDInBit = 0, option = 0; I32 Dir = 0; I32 Master_Axis_ID = 0; I32 Axis_ID_Array[3] = {0, 1, 2}; //Axis ID 0 is master axis. F64 Center_Pos_Array[3] = {10000.0, 10000.0, 0.0}; F64 NorVector[3] = {0, 0, 1}; F64 End_Pos_Array[3] = {10000.0, 20000.0, 100000.0}; F64 Vm = 10000.0; F64 TransPara = 0; ASYNCALL argu; ``` ```txt // Enable asynchronous mode. Bit 11 set to "1" ret = APS_initial(&boardIDInBit, 0x800); ``` ```txt APS_set_axis_param_f( Master_Axis_ID, PRA_SF, 0.5 ); //Set S-curve APS_set_axis_param_f( Master_Axis_ID, PRA_ACC, 50000.0 ); //Set acceleration APS_set_axis_param_f( Master_Axis_ID, PRA_DEC, 50000.0 ); //Set deceleration ``` ```txt // Executing asynchronous move API argu.u8_asyncMode = 1; ret = APS_spiral_ce_v( Axis_ID_Array, option, Center_Pos_Array, NorVector, End_Pos_Array, Dir, &TransPara, Vm, &argu ); ``` See also： ```txt APS_absolute_helical_move();APS_relative_helical_move();APS_spiral_ce() ``` # APS\_spiral\_ce\_all Support Products： PCI(e)-8154/58 , PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT,AMP-304C, PCIe-8364RS # Descriptions： This function is used to execute a 3D spiral-helix interpolation of end position type, named \_spiral\_ce. It follows with center position, normal vector, end position and Dir. The \_all suffix represents that all motion profiles, including Vs, Vm, Ve, Acc, Dec and SFac, is necessary to perform a 3D spiral-helix interpolation. Other motion profiles are set in axis parameters. User could refer to axis parameter table for the details. Base on PCI(e)-8154/58, AMP-304C, this function support 1 fixed radius circular interpolation and synchronized linear travel in normal axis. The rotate angle is the theta of two vectors： center to start and center to end. Unlike PCIe–8338 and PCI-8254/58 with soft motion base, the circular interpolation angle range only has -360∘to 360 ∘. That means spiral curve only has 1 pitch, just like helical curve. Note ： Due to 8154/58 limit, 4th / 8th axis operation will be a dummy motion and it can’t be used for any other puspose. This axis need to be set servo-off. If not, it will return ERR\_InServoOnState(-48) e.g. PCI(e)-8154, choose {0,1,2} be APS\_spiral\_ce\_v(), axis 3 operation is always a dummy motion and it cannot be added into \*Axis\_ID\_Array. PCI(e)-8158, choose {4,5,6} be APS\_spiral\_ce\_v(), axis 7 operation is always a dummy motion and it cannot be added into \*Axis\_ID\_Array. Syntax： C/C++： I32 FNTYPE APS\_spiral\_ce\_all( I32 \*Axis\_ID\_Array, I32 Option, F64 \*CenterArray, F64 \*NormalArray, F64 \*EndArray, I16 Dir, F64 \*TransPara, F64 Vs, F64 Vm, F64 Ve, F64 Acc,F64 Dec, F64 SFac, ASYNCALL \*Wait ); Visual Basic： APS\_spiral\_ce\_all( Axis\_ID\_Array As Long, ByVal Option As Long, CenterArray As Double, NormalArray As Double, EndArray As Double, ByVal Dir As Short, TransPara As Double, ByVal Vs As Double, ByVal Vm As Double, ByVal Ve As Double, ByVal Acc As Double, ByVal Dec As Double, ByVal SFac As Double, Wait As ASYNCALL) As Long # Parameters： For PCI(e)-8154/58, AMP-304C： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. Note： The axes specified in Axis\_ID\_Array must be of the same card. I32 Option： A bit set specifies the option, which could enable specified parameters and functions.
76543210
Absolute(0) /
Relative(1)
15141312111098
Bit 0： 1：Relative move, 0：Absolute move Bit 1\~15： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 \*NormalArray： A pointer indicates the starting address of the normal vector array. F64 \*EndArray： A pointer indicates the starting address of end array. I16 Dir： A value specifies the rotate direction. If Dir >= 0 means rotate in positive direction(counterclockwise), Dir <= -1 (clockwise) rotate in negative direction. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. Note： It is reserved for future. F64 Vs： A value specifies the starting velocity. F64 Vm： A value specifies the maximum velocity. F64 Ve： A value specifies the ending velocity. F64 Acc： A value specifies the acceleration. F64 Dec： A value specifies the deceleration. F64 SFac： A value specifies the s factor. ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. For PCI-8254/58 / AMP-204/8C and PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT： I32 \*Axis\_ID\_Array： A pointer indicates the starting address of axes array. I32 Option： A bit set specifies the option, which could enable specified parameters and functions. <table>7654321Bit : 0Absolute(0) / Relative(1)15141312111098Buffer modeWait trigger Bit 0： 1：Relative move, 0：Absolute move Bit 1\~7： Reserved for future, set to 0. Bit 8： Set a move to waiting state. This axis will not move until triggered. Bit 9\~11： Reserved for future, set to 0. Bit 12\~15： Buffer mode： 0000b(0)： Aborting – stop and blend (TransPara\_0 as deceleration. [dec >0 ], if dec <= 0, kernel takes new coming deceleration. ) 0001b(1)： Aborting – force abort 0010b(2)： Reserved. Note： if setting to mode 2, it will return error code. 0011b(3)： Buffered 0100b(4)： Blending – Deceleration event 0101b(5)： Blending – Residue distance (TransPara\_0 as residue distance >= 0.0 ) 0110b(6)： Blending – Residue distance in travel distance’s percentage( TransPara\_0 as residue distance % value range： 0.0 \~ 1.0 ) Bit 16\~： Reserved for future, set to 0. F64 \*CenterArray： A pointer indicates the starting address of center array. F64 \*NormalArray： A pointer indicates the starting address of the normal vector array. F64 \*EndArray： A pointer indicates the starting address of end array. I16 Dir： A value specifies the rotate direction. If dir set 0 means rotate in positive direction, dir = -1 rotate in negative direction. The total rotate angle = theta + Dir x 2PI, where theta is the angle of two vectors： center to start and center to end. F64 \*TransPara： A pointer indicates the starting address of transfer parameters. F64 Vs： A value specifies the starting velocity. F64 Vm： A value specifies the maximum velocity. F64 Ve： A value specifies the ending velocity. F64 Acc： A value specifies the acceleration. F64 Dec： A value specifies the deceleration. F64 SFac： A value specifies the s factor. For PCI-8254/58 / AMP-204/8C ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. Passing it with NULL defines a waiting call. If it is a valid pointer, the call is non-waiting and the functions returns immediately. For PCIe-833x only ASYNCALL \*Wait： A pointer to ASYNCALL structure. Passing it with NULL defines a waiting call(Synchronous call). If it is a valid pointer, the variable “u8\_asyncMode” in ASYNCALL structure is equal to 1 and asynchronous mode is enabled by APS\_initial, then the call is nonwaiting(Asynchronous call) and the functions returns immediately. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Below example is for PCI(e)-8154/58 I32 opt = 1; //relative mode I32 Axis\_ID\_Array[3] = {0, 1, 2}; F64 NormalArray[3] = { 0, 1, 0 }; // choose axis 1 is vertical axis F64 Center\_Pos\_Array[2] = {10000, 0, 20000}; F64 End\_Pos\_array[2] = {20000, 20000, 40000}; I16 Dir = 1; // rotate counterclockwise F64 TransPara = 0; ASYNCALL \*wait = NULL; APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_CURVE, 1 ); //Set S-curve APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_ACC, 100000 ); //Set acceleration APS\_set\_axis\_param( Master\_Axis\_ID, PRA\_DEC, 100000 ); //Set deceleration APS\_spiral\_ce\_all ( ```c Axis_ID_Array // I32 *Axis_ID_Array , opt // I32 Option , Center_Pos_Array // F64 * CenterArray , NormalArray // F64 * NormalArray , End_Pos_array // F64 * Enday , Dir // I16 Dir , &TransPara // reserved , 0 // Vs , 10000 // Vm , 0 // Ve , 11111 // Acc , 11111 // Dec , Sfac // 1, S-curve , wait ); // reserved ``` Example： For asynchronous move API call(PCIe-833x only) ```c I32 ret = 0, boardIDInBit = 0, option = 0; I32 Dir = 0; I32 Master_Axis_ID = 0; I32 Axis_ID_Array[3] = {0, 1, 2}; //Axis ID 0 is master axis. F64 Center_Pos_Array[3] = {10000.0, 10000.0, 0.0}; F64 NorVector[3] = {0, 0, 1}; F64 End_Pos_Array[3] = {10000.0, 20000.0, 100000.0}; F64 Vs = 0.0, Vm = 10000.0, Ve = 0.0, Acc = 50000.0, Dec = 50000.0, Sf = 0.5; F64 TransPara = 0; ASYNCALL argu; ``` // Enable asynchronous mode. Bit 11 set to “1” ret = APS\_initial( &boardIDInBit, 0x800 ); // Executing asynchronous move API argu.u8\_asyncMode = 1; ret = APS\_spiral\_ce\_all( Axis\_ID\_Array, option, Center\_Pos\_Array, NorVector, End\_Pos\_Array, Dir, &TransPara, Vs, Vm, Ve, Acc, Dec, Sf, &argu ); See also： APS\_absolute\_helical\_move();APS\_relative\_helical\_move(); APS\_spiral\_ce() # 11.Interrupt # APS\_int\_enable Support Products： PCI-8253/56, PCI-8392(H), DPAC-1000, DPAC-3000, PCI-8144, PCI(e)-7856, PCI(e)- 8154/8158, PCI-8102/PCI-C154(+), PCI-8254/58 / AMP-204/8C , PCIe-833x, AMP-104C, AMP-304C, PCIe-8364RS # Descriptions： This function is used to enable/disable interrupt of one board to host computer. It is a hardware main switch of this board. Once it is disabled, host computer will not received any hardware interrupt even the interrupt factor is enabled. Users must enable this function before using any interrupt relative functions and disable this function when users do not use interrupt anymore. # Syntax： C/C++： I32 FNTYPE APS\_int\_enable( I32 Board\_ID, I32 Enable ); Visual Basic： APS\_int\_enable (ByVal Board\_ID As Long, ByVal Enable As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Enable： Enable/Disable interrupt. 0： Disable. 1： Enable # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Int\_No; //Interrupt number I32 returnCode; // function return code Int\_No = APS\_set\_int\_factor( Board\_ID, Item\_No, Factor\_No, 1 ); //Enable the interrupt factor APS\_int\_enable( Board\_ID, 1 ); //Enable the interrupt main switch returnCode = APS\_wait\_single\_int( Int\_No, Time\_Out ); //Wait interrupt if( returnCode == ERR\_NoError ) { //Interrupt occurred ```txt APS_reset_int(Int_No); ...//Do something } ``` APS\_set\_int\_factor( Board\_ID, Item\_No, Factor\_No, 0 ); //Disable the interrupt factor APS\_int\_enable( Board\_ID, 0 ); //Disable the interrupt main switch # See also： APS\_set\_int\_factor(); APS\_get\_int\_factor();APS\_wait\_single\_int();APS\_wait\_multiple\_int(); APS\_reset\_int(); APS\_set\_int(); # APS\_set\_int\_factor Support Products ： PCI-8253/56, PCI-8392(H), DPAC-1000, DPAC-3000, PCI-8144, PCI(e)-7856, PCI(e)-8154/8158, PCI-8102/PCI-C154(+), PCI-8254/58 / AMP-204/8C , PCIe-833x, AMP-104C, AMP-304C, PCIe-8364RS # Descriptions ： This function is used to turn on/off the interrupt factor bit. If it is turned on, the function will return a notification event for this bit and return an I32 type event number. Users can wait this event by assigning corresponding event number into a wait function. The event number is unique in one system but it is not a event handler. It is just a virtual number of event APS converts. The interrupt factor definition, please refer to the interrupt factor table. # Syntax： C/C++： I32 FNTYPE APS\_set\_int\_factor( I32 Board\_ID, I32 Item\_No, I32 Factor\_No, I32 Enable ); Visual Basic： APS\_set\_int\_factor (ByVal Board\_ID As Long, ByVal Item\_No As Long, ByVal Factor\_No As Long, ByVal Enable As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Item\_No： Interrupt factor table item number. Refer to interrupt factor table. I32 Factor\_No： Factor number of one item. Refer to interrupt factor table. I32 Enable： Enable interrupt factor. 0： Disable; 1：Enable # Return Values： When： [Enable = 1] ： Enable the interrupt factor Return positive value： I32 Interrupt event number. Return negative value： I32 Error code： Please refer to APS Functions Return Code. [Enable = 0] ： Disable the interrupt factor Return I32 Error code： Please refer to APS Functions Return Code. Example1： ```txt <Set axis 2 NSTP interrupt of PCI-8392 or PCI-8253/56> ``` ```txt I32 Int_No; //Interrupt number ``` ```javascript I32 returnCode; // function return code ``` ```c Int_No = APS_set_int_factor( Board_ID, Item_No=2, Factor_No=BIT12, 1 ); //Enable the interrupt factor APS_int_enable( Board_ID, 1 ); //Enable the interrupt main switch returnCode = APS_wait_single_int( Int_No, Time_Out ); //Wait interrupt if( returnCode == ERR_NoError ) { //Interrupt occurred APS_reset_int( Int_No ); ...//Do something } ``` ```txt APS_set_int_factor( Board_ID, Item_No, Factor_No, 0 ); //Disable the interrupt factor ``` ```txt APS_int_enable( Board_ID, 0 ); //Disable the interrupt main switch ``` Example2： ```txt <Set axis 2 IMDN interrupt of PCI-8254/58 ``` ```txt I32 Int_No; //Interrupt number ``` ```javascript I32 returnCode; // function return code ``` ```txt Int_No = APS_set_int_factor(Board_ID, Item_No=2, Factor_No=BIT12, 1); //Enable the interrupt factor ``` ```c APS_int_enable( Board_ID, 1 ); //Enable the interrupt main switch ``` ```c returnCode = APS_wait_single_int(Int_No, Time_Out); //Wait interrupt ``` ```txt if( returnCode == ERR_NoError ) ``` ```javascript { //Interrupt occurred ``` ```txt APS_reset_int(Int_No); ``` ```txt ...//Do something ``` ```txt APS_set_int_factor( Board_ID, Item_No, Factor_No, 0 ); //Disable the interrupt factor ``` ```txt APS_int_enable( Board_ID, 0 ); //Disable the interrupt main switch ``` Example 3： ```txt <Set IMDN interrupt by "Axis_ID" of PCIe-833x when using manual slave ID> ``` ```txt I32 Int_No; //Interrupt number ``` ```javascript I32 returnCode; // function return code I32 boardID, axisNo, portID, moduleID; ``` ```javascript // Step 1 => Get axis number. returnCode = APS_get_axis_info( Axis_ID, &boardID, &axisNo, &portID, &moduleID ); ``` ```txt // Step 2 => Set IMDN interrupt factor for specific axis. Int_No = APS_set_int_factor(boardID, axisNo, Factor_No=BIT12, 1); ``` ```txt // Step 3 => Enable interrupt main switch. APS_int_enable( boardID, 1 ); ``` ```c // Step 4 => Wait interrupt returnCode = APS_wait_single_int( Int_No, Time_Out ); if( returnCode == ERR_NoError ) { //Interrupt occurred APS_reset_int( Int_No ); ...//Do something } ``` ```c APS_set_int_factor( boardID, axisNo, Factor_No, 0 ); //Disable the interrupt factor APS_int_enable( boardID, 0 ); //Disable the interrupt main switch ``` # See also： ```cmake APS_int_enable();APS_get_int_factor();APS_wait_single_int();APS_wait_multiple_int();APS_reset_int();APS_set_int() ``` # See also： ```cmake APS_int_enable();APS_get_int_factor();APS_wait_single_int();APS_wait_multiple_int();APS_reset_int();APS_set_int();APS_get_axis_info() ``` # APS\_get\_int\_factor Support Products ： PCI-8253/56, PCI-8392(H), DPAC-1000, DPAC-3000, PCI-8144, PCI(e)-7856, PCI(e)-8154/8158, PCI-8102/PCI-C154(+), PCI-8254/58 / AMP-204/8C, PCIe-833x, AMP-104C, AMP-304C, PCIe-8364RS # Descriptions ： This function is used to get the setting of interrupt factor. # Syntax： C/C++： I32 FNTYPE APS\_get\_int\_factor( I32 Board\_ID, I32 Item\_No, I32 Factor\_No, I32 \*Enable ); Visual Basic： APS\_get\_int\_factor (ByVal Board\_ID As Long, ByVal Item\_No As Long, ByVal Factor\_No As Long, Enable As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Item\_No： Interrupt factor table item number. Refer to interrupt factor table. I32 Factor\_No： Factor number of one item. Refer to interrupt factor table. I32 \*Enable： Return enable or disable. 0： Disable, 1：Enable. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```matlab I32 ReturnCode; I32 Enable; ReturnCode = APS_get_int_factor( Board_ID, Item_No, Factor_No, &Enable ); ... ``` # See also： APS\_int\_enable();APS\_set\_int\_factor();APS\_wait\_single\_int();APS\_wait\_multiple\_int(); APS\_reset\_int(); APS\_set\_int() # APS\_wait\_single\_int Support Products： PCI-8253/56, PCI-8392(H), DPAC-1000, DPAC-3000, PCI-8144, PCI(e)-7856, PCI(e)- 8154/8158, PCI-8102/PCI-C154(+), PCI-8254/58 / AMP-204/8C, PCIe-833x, AMP-104C, AMP-304C, PCIe-8364RS # Descriptions： When the user enabled the interrupt function for specified factors by “APS\_set\_int\_factor”, it could use this function to wait a specific interrupt. When this function was running, the process would never stop until the event was be triggered or the function was time out. This function returns when one of the following occurs： 1. The specified interrupt factor is in the signaled state. 2. The time-out interval elapses. This function checks the current state of the specified interrupt factor. If the state is non-signaled, the calling thread enters the wait state. It uses no processor time while waiting for the INT state to become signaled or the time-out interval to elapse. When the interrupt is occurred and the wait function is return. User should use APS\_reset\_int () to reset the interrupt by themselves. If user does not reset the interrupt, the wait function will pass immediately next time. # Syntax： C/C++： I32 FNTYPE APS\_wait\_single\_int( I32 Int\_No, I32 Time\_Out ); Visual Basic： APS\_wait\_single\_int (ByVal Int\_No As Long, ByVal Time\_Out As Long) As Long # Parameters： I32 Int\_No： Interrupt event number. Get from APS\_set\_int\_factor() function. I32 Time\_Out： Wait timeout time. Unit is milli-second. If value is set -1, the function’s time-out interval never elapses (infinite). If Time Out is zero, the function tests the interrupt’s state and returns immediately. # Return Values： ERR\_NoError(0)： The event is wait success. I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Int\_No; //Interrupt number I32 returnCode; // function return code Int\_No = APS\_set\_int\_factor( Board\_ID, Item\_No, Factor\_No, 1 ); //Enable the interrupt factor APS\_int\_enable( Board\_ID, 1 ); //Enable the interrupt main switch ```c returnCode = APS_wait_single_int( Int_No, Time_Out ); //Wait interrupt if( returnCode == ERR_NoError ) { //Interrupt occurred APS_reset_int( Int_No ); ...//Do something } ``` APS\_set\_int\_factor( Board\_ID, Item\_No, Factor\_No, 0 ); //Disable the interrupt factor APS\_int\_enable( Board\_ID, 0 ); //Disable the interrupt main switch # See also： APS\_int\_enable();APS\_set\_int\_factor();APS\_get\_int\_factor();APS\_wait\_multiple\_int(); APS\_reset\_int(); APS\_set\_int() # APS\_wait\_multiple\_int Support Products： PCI-8253/56, PCI-8392(H), DPAC-1000, DPAC-3000, PCI-8144, PCI(e)-7856, PCI(e)- 8154/8158, PCI-8102/PCI-C154(+), PCI-8254/58 / AMP-204/8C, PCIe-833x, AMP-104C, AMP-304C, PCIe-8364RS # Descriptions： When the user enabled the interrupt function for specified factors by “APS\_set\_int\_factor()”, users could use this function to wait specific interrupts. When this function was running, the process would never stop until the event was be triggered or the function was time out. This function returns when one of the following occurs： 1. Either any one or all of the interrupt factors are in the signaled state. 2. The time-out interval elapses. This function checks the current state of the specified interrupt factor. If the state is non-signaled, the calling thread enters the wait state. It uses no processor time while waiting for the INT state to become signaled or the time-out interval to elapse. Users must use APS\_reset\_int() to reset the events themselves before wait the events next time. # Syntax： C/C++： I32 FNTYPE APS\_wait\_multiple\_int( I32 Int\_Count, I32 \*Int\_No\_Array, I32 Wait\_All, I32 Time\_Out ); Visual Basic： APS\_wait\_multiple\_int (ByVal Int\_Count As Long, Int\_No\_Array As Long, ByVal Wait\_All As Long, ByVal Time\_Out As Long) As Long # Parameters： I32 Int\_Count： Specifies the number of Interrupt. The maximum number of factors is 64. I32 \*Int\_No\_Array： Interrupt event number array. Get from APS\_set\_int\_factor() function. I32 Wait\_All： Wait option. FALSE： (0) The function returns when the state of any one of the events in the array is signaled. TRUE： (1) The function returns when the state of all events in the array is signaled. I32 Time\_Out： Wait timeout time. Unit is milli-second. If value is set -1, the function’s time-out interval never elapses (infinite). # Return Values： Postive value： (Int\_Count – 1)： The events are wait success. If Wait\_All is FALSE (0), the return value indicates that the state of all specified objects is signaled. If Wait\_All is FALSE(0), the return value indicates the array index of the object that satisfied the wait. If more than one event became operation during the call, this is the array index of the operation object with the smallest index value of all the operation objects. Negative value： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Int\_No[2]; //Interrupt number I32 returnCode; // function return code Int\_No[0] = APS\_set\_int\_factor( Board\_ID, Item\_No1, Factor\_No1, 1 ); //Enable the interrupt factor Int\_No[1] = APS\_set\_int\_factor( Board\_ID, Item\_No2, Factor\_No2, 1 ); //Enable the interrupt factor APS\_int\_enable( Board\_ID, 1 ); //Enable the interrupt main switch returnCode = APS\_wait\_multiple\_int( 2, Int\_No, 1, Time\_Out ); //Wait multiple interrupts, (wait all) if( returnCode >= ERR\_NoError ) { //Interrupts occurred APS\_reset\_int( Int\_No[0] ); APS\_reset\_int( Int\_No[1] ); …//Do something } APS\_set\_int\_factor( Board\_ID, Item\_No1, Factor\_No1, 0 ); //Disable the interrupt factor APS\_set\_int\_factor( Board\_ID, Item\_No2, Factor\_No2, 0 ); //Disable the interrupt factor APS\_int\_enable( Board\_ID, 0 ); //Disable the interrupt main switch # See also： APS\_int\_enable(); APS\_set\_int\_factor();APS\_get\_int\_factor();APS\_wait\_single\_int(); APS\_reset\_int(); APS\_set\_int() # APS\_wait\_error\_int Support Products： PCI(e)-8154/8158, PCI-8102/PCI-C154(+), AMP-304C # Descriptions： Users could use this function to wait error interrupts. When this function was running, the process would never stop until the event was be triggered or the function was time out. This function returns when one of the following occurs： 1. Either any one or all of the error interrupts are in the signaled state. 2. The time-out interval elapses. This function checks the current state of the error interrupts. If the state is non-signaled, the calling thread enters the wait state. It uses no processor time while waiting for the INT state to become signaled or the timeout interval to elapse. When the error interrupt is occurred and the wait function is return. # Syntax： I32 FNTYPE APS\_wait\_error\_int( I32 Board\_ID, I32 Item\_No, I32 Time\_Out ); APS\_wait\_single\_int (ByVal Board\_ID As Long, ByVal Item\_No As Long, ByVal Time\_Out As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Item\_No： Interrupt factor table item number. Refer to interrupt factor table. I32 Time\_Out： Wait timeout time. Unit in mini-second. If value is set -1, the function’s time-out interval never elapses (infinite). If Time Out is zero, the function tests the interrupt’s state and returns immediately. # Return Values： When： ```ini [Enable = 1] : Enable the interrupt Return positive value : I32 Error interrupt event number or Time_Out. Return negative value : I32 Error code : Please refer to APS Functions Return Code. [Enable = 0] : Disable the interrupt I32 Error code : Please refer to APS Functions Return Code. ``` # Example： I32 returnCode; // function return code APS\_int\_enable( Board\_ID, 1 ); //Enable the interrupt main switch returnCode = APS\_wait\_ error\_int(Board\_ID , Item\_No, Time\_Out ); //Wait error interrupt ```txt if( returnCode >= 0 ) { //Interrupts occurred or Time_Out //Do something } APS_int_enable( Board_ID, 0 ); //Disable the interrupt main switch ``` # See also： APS\_int\_enable();APS\_set\_int\_factor();APS\_get\_int\_factor();APS\_wait\_single\_int(); APS\_wait\_multiple\_int(); APS\_reset\_int(); APS\_set\_int() # APS\_reset\_int Support Products ： PCI-8253/56, PCI-8392(H), DPAC-1000, DPAC-3000, PCI-8144, PCI(e)-7856, PCI(e)-8154/8158, PCI-8102/PCI-C154(+), PCI-8254/58 / AMP-204/8C , PCIe-833x, AMP-104C, AMP-304C, PCIe-8364RS # Descriptions ： This function is used to reset singled event to non-singled state. # Syntax： C/C++： I32 FNTYPE APS\_reset\_int( I32 Int\_No ); Visual Basic： APS\_reset\_int (ByVal Int\_No As Long) As Long # Parameters： I32 Int\_No： Interrupt event number. Get from APS\_set\_int\_factor() function. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Int\_No; //Interrupt number I32 returnCode; // function return code ```c Int_No = APS_set_int_factor( Board_ID, Item_No, Factor_No, 1 ); //Enable the interrupt factor APS_int_enable( Board_ID, 1 ); //Enable the interrupt main switch returnCode = APS_wait_single_int( Int_No, Time_Out ); //Wait interrupt if( returnCode == ERR_NoError ) { //Interrupt occurred APS_reset_int( Int_No ); ...//Do something } ``` APS\_set\_int\_factor( Board\_ID, Item\_No, Factor\_No, 0 ); //Disable the interrupt factor APS\_int\_enable( Board\_ID, 0 ); //Disable the interrupt main switch # See also： APS\_int\_enable();APS\_set\_int\_factor();APS\_get\_int\_factor();APS\_wait\_single\_int(); APS\_wait\_multiple\_int(); APS\_set\_int() # APS\_set\_int Support Products ： PCI-8253/56, PCI-8392(H), DPAC-1000, DPAC-3000, PCI-8144, PCI(e)-7856, PCI(e)-8154/8158, PCI-8102/PCI-C154(+), PCI-8254/58 / AMP-204/8C , PCIe-833x, AMP-104C, AMP-304C, PCIe-8364RS # Descriptions ： This function is used to signal the specified event interrupt. The wait function will return (pass) when this function is set. # Syntax： C/C++： I32 FNTYPE APS\_set\_int( I32 Int\_No ); Visual Basic： APS\_set\_int (ByVal Int\_No As Long) As Long # Parameters： I32 Int\_No： Interrupt event number. Get from APS\_set\_int\_factor() function. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Int\_No; //Interrupt number I32 returnCode; // function return code Int\_No = APS\_set\_int\_factor( Board\_ID, Item\_No, Factor\_No, 1 ); //Enable the interrupt factor APS\_int\_enable( Board\_ID, 1 ); //Enable the interrupt main switch APS\_set\_int(Int\_No ); //Signaled interrupt event. returnCode = APS\_wait\_single\_int( Int\_No, Time\_Out ); //Wait function will pass immediately if( returnCode == ERR\_NoError ) { //Interrupt occurred APS\_reset\_int( Int\_No ); …//Do something } APS\_set\_int\_factor( Board\_ID, Item\_No, Factor\_No, 0 ); //Disable the interrupt factor APS\_int\_enable( Board\_ID, 0 ); //Disable the interrupt main switch # See also： APS\_int\_enable();APS\_set\_int\_factor();APS\_get\_int\_factor();APS\_wait\_single\_int(); APS\_wait\_multiple\_int(); APS\_reset\_int() # APS\_set\_int\_factorH Support Products ： PCI-8253/56, PCI-8392(H), DPAC-1000, DPAC-3000, PCI-8144, PCI(e)-7856, PCI(e)-8154/8158, PCI-8102/PCI-C154(+), PCI-8254/58 / AMP-204/8C , PCIe-833x, AMP-104C, AMP-304C, PCIe-8364RS # Descriptions ： This function is used to turn on/off the interrupt factor bit. If it is turned on, the function will return a notification event for this bit and return a HANDLE type (define in windows.h) event handle. Users can use this handle directly with win32 API functions. The event number is unique in one system. The interrupt factor definition, please refer to the interrupt factor table. # Syntax： ```txt C/C++ : ``` HANDLE APS\_set\_int\_factorH( I32 Board\_ID, I32 Item\_No, I32 Factor\_No, I32 Enable ); ```txt Visual Basic : ``` APS\_set\_int\_factorH (ByVal Board\_ID As Long, ByVal Item\_No As Long, ByVal Factor\_No As Long, ByVal Enable As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Item\_No： Interrupt factor table item number. Refer to interrupt factor table. I32 Factor\_No： Factor number of one item. Refer to interrupt factor table. I32 Enable： Enable interrupt factor. 0： Disable; 1：Enable # Return Values： When： [Enable = 1] ： Enable the interrupt factor Return win32 event handle if function success, or return null(0) for failed. [Enable = 0] ： Disable the interrupt factorReturn null(0). # Example： #include <windows.h> HANDLE hInt; //Interrupt handle DWORD returnCode; // function return code hInt = APS\_set\_int\_factorH( Board\_ID, Item\_No, Factor\_No, 1 ); //Enable the interrupt factor ```txt APS_int_enable( Board_ID, 1 ); //Enable the interrupt main switch returnCode = WaitForSingleObject( hInt, 1000 ); ``` ```solidity if( returnCode == WAIT_OBJECT_0 ) { //Interrupt occurred ResetEvent (hInt ); //Win32 SDK function ...//Do something } ``` ```c APS_set_int_factor( Board_ID, Item_No, Factor_No, 0 ); //Disable the interrupt factor APS_int_enable( Board_ID, 0 ); //Disable the interrupt main switch ``` # See also： APS\_int\_enable();APS\_get\_int\_factor();APS\_wait\_single\_int();APS\_wait\_multiple\_int(); APS\_reset\_int(); APS\_set\_int() # APS\_int\_no\_to\_handle Support Products ： PCI-8253/56, PCI-8392(H), DPAC-1000, DPAC-3000, PCI-8144, PCI(e)-7856, PCI(e)-8154/8158, PCI-8102/PCI-C154(+), PCI-8254/58 / AMP-204/8C , PCIe-833x, AMP-304C, PCIe-8364RS # Descriptions ： This function is used to convert interrupt number to a HANDLE type (define in windows.h) event handle. User could get an I32 type event number by APS\_set\_factor(), then convert this number to a HANDLE. # Syntax： C/C++： HANDLE APS\_int\_no\_to\_handle( I32 Int\_No ); Visual Basic： APS\_int\_no\_to\_handle( ByVal Int\_No As Long ) As Long # Parameters： I32 Int\_No： Interrupt event number. Get from APS\_set\_int\_factor() function. # Return Values： Return win32 event handle. # Example： #include <windows.h> HANDLE hInt; //Interrupt handle I32 Int\_No; DWORD returnCode; // function return code Int\_No = APS\_set\_int\_factor( Board\_ID, Item\_No, Factor\_No, 1 ); //Enable the interrupt factor hInt = APS\_int\_no\_to\_handle( Int\_No ); //Convert to a handle. APS\_int\_enable( Board\_ID, 1 ); //Enable the interrupt main switch returnCode = WaitForSingleObject( hInt, 1000 ); if( returnCode == WAIT\_OBJECT\_0 ) { //Interrupt occurred ResetEvent (hInt ); //Win32 SDK function …//Do something } APS\_set\_int\_factor( Board\_ID, Item\_No, Factor\_No, 0 ); //Disable the interrupt factor APS\_int\_enable( Board\_ID, 0 ); //Disable the interrupt main switch # See also： APS\_int\_enable(); APS\_set\_int\_factor(); APS\_set\_field\_bus\_int\_factor\_motion () # APS\_register\_int\_callback Support Products： PCI-8253/56, PCI-8392(H), DPAC-1000, DPAC-3000, PCI-8144, PCI(e)-7856, PCI(e)- 8154/8158, PCI-8102/PCI-C154(+), PCI-8254/58 / AMP-204/8C, PCIe-833x, AMP-104C, AMP-304C # Descriptions： This function is used to register specified callback function. APS library will call registered function after assigned interrupt factor occur. When the interrupt is occurred and the callback function is called, user doesn’t use reset function to reset the interrupt by themselves. # Syntax： ```txt C/C++ : ``` I32 APS\_register\_int\_callback( I32 ISR\_No, I32 Board\_ID, I32 Item\_No, I32 Factor\_No, callback SuccessHandler, callback FailHandler, I32 Action ); Visual Basic : APS\_register\_int\_callback( ByVal ISR\_No As Integer, ByVal Board\_ID As Integer, ByVal Item\_No As Integer, ByVal Factor\_No As Integer, ByVal SuccessHanler As callback\_func, ByVal FailHandler As callback\_func, ByVal Action As Integer ) As Integer # Parameters： I32 ISR\_No ： 0 \~ 3, Once time only could register 1 interrupt & ISR function I32 Board\_ID ： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Item\_No ： Interrupt factor table item number. Refer to interrupt factor table. I32 Factor\_No ： Factor number of one item. Refer to interrupt factor table. callback SuccessHandler ： Interrupt success ISR callback FailHandler ： Interrupt fail ISR. I32 Action ： 0 ： Stop register & interrupt 1 ： Start register & interrupt 2 ： Change callback function to a new one # Return Values： ERR\_NoError(0)： The event is wait success. I32 Error code： Please refer to APS Functions Return Code. # Example： ```c // Successful callback function void _SuccessfulISR() { // Do something for successful called ..... } // Failure callback function void _ErrorISR() { // Do something for failure called ..... } I32 ret = 0; I32 INT_ITEM = 3; // For Axis 3 I32 INT_FACTOR = 9; // For IVM( In maximum velocity ) I32 ISR_No = 0; // ISR number ret = APS_int_enable( boardID, 1 ); ret = APS_register_int_callback( ISR_No, boardID, INT_ITEM, INT_FACTOR, _SuccessfulISR, _ErrorISR, 1 ); if( ret != 0 ) { printf("ISR %d ,ret fail, return code is %d \ n", ISR_No, ret ); } ...... ...... // Disable callback function ret = APS_register_int_callback( ISR_No, boardID, INT_ITEM, INT_FACTOR, NULL, NULL, 0 ); if( ret != 0 ) { printf("Stop register interrupt ISR %d, ret = %d \ n", ISR_No, ret ); } ret = APS_int_enable( boardID, 0 ); ``` # C# Example： // Global variable declaration static APS168.callback\_func successInstance, failInstance; private static void success\_handlerFunc() ```txt { Console.WriteLine("Enter ISR success!!!!"); // Do something for successful called ... } private static void fail_handlefunc() { Console.WriteLine("Error"); // Do something for failure called ...... } Int32 ret = 0; Int32 ISR_No = 0; Int32 Board_ID = 0; Int32 action = 1; ret = APS168.APS_int_enable(Board_ID, 1); Console.WriteLine("Board_ID ID : " + Board_ID.ToString() + " interrupt enable, error code : " + ret.ToString()); successInstance = success_handlerFunc; failInstance = fail_handlefunc; ret = APS168.APS_register_int_callback(ISR_No, Board_ID, 0, 9, successInstance, failInstance, action); ``` See also： APS\_int\_enable() # APS\_set\_field\_bus\_int\_factor\_motion Support Products ： PCI(e)-7856, MNET-4XMO-(C), MNET-1XMO # Descriptions ： This function is used to turn on/off the interrupt factor bit on MNET products. If it is turned on, the function will return a notification event for this bit and return an I32 type event number. Users can wait this event by assigning corresponding event number into a wait function. The event number is unique in one system but it is not an event handler. It is just a virtual number of event APS converts. The MotionNet motion interrupt factor definition, please refer to the interrupt factor table. Note that be sure to set to interrupt mode, bit 6 set to 1, by calling APS\_initial(). Note that you should call this function after starting field bus. Be sure all axes of the MENT field bus were built by calling APS\_start\_field\_bus(). Then, user can set interrupt factor to specialized axis by using this function. Otherwise, error code returns. # Syntax： C/C++： I32 FNTYPE APS\_set\_field\_bus\_int\_factor\_motion( I32 Axis\_ID, I32 Factor\_No, I32 Enable ); Visual Basic： APS\_set\_field\_bus\_int\_factor\_motion ( ByVal Axis\_ID As Long, ByVal Factor\_No As Long, ByVal Enable As Long) As Long # Parameters： I32 Axis\_ID： Specialized axis of MNET system. I32 Factor\_No： Factor number of axes. Refer to interrupt factor table. I32 Enable： Enable interrupt factor. 0： Disable; 1：Enable # Return Values： When： [Enable = 1] ： Enable the interrupt factor Return positive value： I32 Interrupt event number. Return negative value： I32 Error code： Please refer to APS Functions Return Code. [Enable = 0] ： Disable the interrupt factor Return I32 Error code： Please refer to APS Functions Return Code. # Example： <Set axis 1000 INSTP (BIT 0) interrupt ON MotionNet field bus on PCI(e)-7856 > I32 Axis\_ID = 1000; //MNET’s axis I32 returnCode; // function return code //Enable the interrupt factor Int\_No = APS\_set\_field\_bus\_int\_factor\_motion ( Board\_ID, Axis\_ID, Factor\_No=0, 1 ); APS\_int\_enable( Board\_ID, 1 ); //Enable the interrupt main switch //Reset interrupt status of the axis APS\_reset\_field\_bus\_int\_motion ( Axis\_ID ); returnCode = APS\_wait\_single\_int( Int\_No, Time\_Out ); //Wait interrupt if( returnCode == ERR\_NoError ) { //Interrupt occurred APS\_reset\_int( Int\_No ); …//Do something APS\_set\_field\_bus\_int\_factor\_motion ( Axis\_ID, Factor\_No, 0 ); //Disable the interrupt factor APS\_int\_enable( Board\_ID, 0 ); //Disable the interrupt main switch # See also： APS\_int\_enable();APS\_get\_field\_bus\_int\_factor\_motion();APS\_wait\_single\_int(); APS\_wait\_multiple\_int(); APS\_reset\_int(); APS\_set\_int() # APS\_get\_field\_bus\_int\_factor\_motion Support Products ： PCI(e)-7856, MNET-4XMO-(C), MNET-1XMO # Descriptions ： This function is used to get the setting of interrupt factor. Note that you should call this function after starting field bus. Be sure all axes of the port were built by calling APS\_start\_field\_bus(). Then, user can get interrupt factor from specialized axis by using this function. Otherwise, error code returns. # Syntax： C/C++： I32 FNTYPE APS\_get\_field\_bus\_int\_factor\_motion( I32 Axis\_ID, I32 Factor\_No, I32 \*Enable ); Visual Basic： APS\_get\_field\_bus\_int\_factor\_motion ( ByVal Axis\_ID As Long, ByVal Factor\_No As Long, Enable As Long) As Long # Parameters： I32 Axis\_ID： Specialized axis of MNET system. I32 Factor\_No： Factor number of axes. Refer to interrupt factor table. I32 \*Enable： Return enable or disable. 0： Disable, 1：Enable. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ReturnCode; I32 Enable; ReturnCode = APS\_get\_field\_bus\_int\_factor\_motion ( Axis\_ID, Factor\_No, &Enable ); # See also： APS\_int\_enable();APS\_set\_field\_bus\_int\_factor\_motion();APS\_wait\_single\_int(); APS\_wait\_multiple\_int(); APS\_reset\_int(); APS\_set\_int() # APS\_set\_field\_bus\_int\_factor\_error Support Products ： PCI(e)-7856, MNET-4XMO-(C), MNET-1XMO # Descriptions ： This function is used to turn on/off the error interrupt factor bit on MNET products. If it is turned on, the function will return a notification event for this bit and return an I32 type event number. Users can wait this event by assigning corresponding event number into a wait function. The event number is unique in one system but it is not an event handler. It is just a virtual number of event APS converts. The MotionNet error interrupt factor definition, please refer to the interrupt factor table. # Note that all default error factors are turned on. Note that be sure to set to interrupt mode, bit 6 set to 1, by calling APS\_initial(). Note that you should call this function after starting field bus. Be sure all axes of the MENT field bus were built by calling APS\_start\_field\_bus(). Then, user can set interrupt factor to specialized axis by using this function. Otherwise, error code returns. # Syntax： C/C++： I32 FNTYPE APS\_set\_field\_bus\_int\_factor\_error( I32 Axis\_ID, I32 Factor\_No, I32 Enable ); Visual Basic： APS\_set\_field\_bus\_int\_factor\_error( ByVal Axis\_ID As Long, ByVal Factor\_No As Long, ByVal Enable As Long) As Long # Parameters： I32 Axis\_ID： Specialized axis of MNET system. I32 Factor\_No： Factor number of axes. Refer to error interrupt factor table. I32 Enable： Enable interrupt factor. 0： Disable; 1：Enable # Return Values： When： [Enable = 1] ： Enable the error interrupt factor Return positive value： I32 Interrupt event number. Return negative value： I32 Error code： Please refer to APS Functions Return Code. [Enable = 0] ： Disable the error interrupt factor Return I32 Error code： Please refer to APS Functions Return Code. # Example： <Set axis 1000 EPEL (BIT 5) error interrupt ON MotionNet field bus on PCI(e)-7856 > I32 Axis\_ID = 1000; //MNET’s axis I32 returnCode; // function return code //Enable the interrupt factor Int\_No = APS\_set\_field\_bus\_int\_factor\_error ( Board\_ID, Axis\_ID, Factor\_No=5, 1 ); APS\_int\_enable( Board\_ID, 1 ); //Enable the interrupt main switch //Reset interrupt status of the axis APS\_reset\_field\_bus\_int\_motion ( Axis\_ID ); returnCode = APS\_wait\_single\_int( Int\_No, Time\_Out ); //Wait interrupt if( returnCode == ERR\_NoError ) { //Interrupt occurred APS\_reset\_int( Int\_No ); …//Do something APS\_set\_field\_bus\_int\_factor\_error ( Axis\_ID, Factor\_No, 0 ); //Disable the error interrupt factor APS\_int\_enable( Board\_ID, 0 ); //Disable the interrupt main switch # See also： APS\_int\_enable();APS\_set\_field\_bus\_int\_factor\_motion();APS\_get\_field\_bus\_int\_factor\_motion(); APS\_wait\_single\_int();APS\_wait\_multiple\_int();APS\_reset\_int();APS\_set\_int(); APS\_get\_field\_bus\_int\_factor\_error(); APS\_wait\_field\_bus\_error\_int\_motion() # APS\_get\_field\_bus\_int\_factor\_error Support Products ： PCI(e)-7856, MNET-4XMO-(C), MNET-1XMO # Descriptions ： This function is used to get the setting of error interrupt factor. # Note that all default error factors are turned on. Note that you should call this function after starting field bus. Be sure all axes of the port were built by calling APS\_start\_field\_bus(). Then, user can get error interrupt factor from specialized axis by using this function. Otherwise, error code returns. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_field\_bus\_int\_factor\_error ( I32 Axis\_ID, I32 Factor\_No, I32 \*Enable ); Visual Basic： APS\_get\_field\_bus\_int\_factor\_error ( ByVal Axis\_ID As Long, ByVal Factor\_No As Long, Enable As Long) As Long # Parameters： I32 Axis\_ID： Specialized axis of MNET system. I32 Factor\_No： Factor number of axes. Refer to error interrupt factor table. I32 \*Enable： Return enable or disable. 0： Disable, 1：Enable. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt I32 ReturnCode; I32 Enable; ReturnCode = APS_get_field_bus_int_factor_error (Axis_ID, Factor_No, &Enable); ... ``` # See also： APS\_int\_enable();APS\_set\_field\_bus\_int\_factor\_motion();APS\_get\_field\_bus\_int\_factor\_motion(); APS\_wait\_single\_int();APS\_wait\_multiple\_int();APS\_reset\_int();APS\_set\_int(); APS\_get\_field\_bus\_int\_factor\_error (); APS\_wait\_field\_bus\_error\_int\_motion() # APS\_reset\_field\_bus\_int\_motion Support Products ： PCI(e)-7856, MNET-4XMO-(C), MNET-1XMO # Descriptions ： This function is used to reset interrupt status of axes. After the user enabled the interrupt function by “APS\_int\_enable()”, users should use this function to reset interrupt status which remain in slave modules. Residual interrupt status in slave modules will cause unexpected procedure such as breaking the interrupt mechanism. Be sure to reset those interrupt status of axes after user enabled the interrupt function. # Syntax： C/C++： I32 FNTYPE APS\_reset\_field\_bus\_int\_motion ( I32 Axis\_ID ); Visual Basic： APS\_reset\_field\_bus\_int\_motion ( ByVal Axis\_ID As Long ) As Long # Parameters： I32 Axis\_ID： Specialized axis of MNET system. I32 Time\_Out： Wait timeout time. Unit is milli-second. If value is set -1, the function’s time-out interval never elapses (infinite). # Return Values： Postive value： (Int\_Count – 1)： The events are wait success. The return value indicates the index of the error events that satisfied the wait. If more than one event became operation during the call, this is the array index of the signaled events with the smallest index value of all the signaled events. Negative value： I32 Error code： Please refer to APS Functions Return Code. # Example： .. set factor by axis APS\_int\_enable( Board\_ID, 1 ); //Enable the interrupt main switch //Reset interrupt status of the axis APS\_reset\_field\_bus\_int\_motion ( Axis\_ID ); .. Wait event See also： APS\_int\_enable();APS\_set\_field\_bus\_int\_factor\_motion();APS\_get\_field\_bus\_int\_factor\_motion() # APS\_wait\_field\_bus\_error\_int\_motion Support Products ： PCI(e)-7856, MNET-4XMO-(C), MNET-1XMO # Descriptions ： This function is used to wait error interrupt event. When the user enabled the interrupt function by “APS\_int\_enable()”, users could use this function to wait error interrupts. When this function was running, the process would never stop until the event was be triggered or the function was time out. This function returns when one of the following occurs： 1. Any one of the error interrupt factors is in the signaled state. 2. The time-out interval elapses. This function checks the current state of the error interrupt factors. If the state is non-signaled, the calling thread enters the wait state. It uses no processor time while waiting for the INT state to become signaled or the time-out interval to elapse. If any one of the error interrupts is triggered, the event will be automatically reset by system. The MotionNet error interrupt factor definition, please refer to the interrupt factor table. Note that all default error factors are turned on. Note that “APS\_set\_field\_bus\_int\_factor\_error( )” could turn off the error interrupt factor bit. # Syntax： C/C++： I32 FNTYPE APS\_wait\_field\_bus\_error\_int\_motion( I32 Axis\_ID, I32 Time\_Out ); Visual Basic： APS\_wait\_field\_bus\_error\_int\_motion ( ByVal Axis\_ID As Long, ByVal Time\_Out As Long) As Long # Parameters： I32 Axis\_ID： Specialized axis of MNET system. I32 Time\_Out： Wait timeout time. Unit is milli-second. If value is set -1, the function’s time-out interval never elapses (infinite). # Return Values： Postive value： The events are wait success. The return value indicates the index of the error events that satisfied the wait. If more than one event became operation during the call, this is the array index of the signaled events with the smallest index value of all the signaled events. Negative value： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ReturnCode; I32 Time\_Out = 1000;(means 1000 ms) ReturnCode = APS\_wait\_field\_bus\_error\_int\_motion ( Axis\_ID, Time\_Out ); # See also： APS\_int\_enable();APS\_set\_field\_bus\_int\_factor\_error();APS\_get\_field\_bus\_int\_factor\_error(); APS\_reset\_field\_bus\_int\_motion() # APS\_set\_field\_bus\_int\_factor\_di Support Products： PCI(e)-7856 # Descriptions： This function is used to assign the HSL DI interrupt bits and return an I32 type event number for a HSL DI module. When the states of bits assigned are changed( no matter 1 to 0, or 0 to 1 ), you can wait the interrupt event via the event number. The event number is unique in one system but it is not an event handler. It is just a virtual number of event APS converts. Please note that one DIO module has only one event number. # Syntax： ```txt C/C++ : ``` APS\_set\_field\_bus\_int\_factor\_di ( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 bitsOfCheck ); Visual Basic： APS\_set\_field\_bus\_int\_factor\_di ( ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal bitsOfCheck As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number. Value： 0\~1, In PCI(e)-7856, this value must be 0. I32 MOD\_No： The first id occupied by HSL slave module. It can’t be 0. I32 bitsOfCheck： This parameter is used with bit-formated. This operation assigns the bits which can cause diinterrupt in a slave module. If slave module has more than 16 bits input, the high word is for bit16\~31 and low word is for bit0\~15. Please note that the next bitsOfCheck override the previous bitsOfCheck. # Return Values： Return positive value： I32 Interrupt event number. Return negative value： I32 Error code： Please refer to APS Functions Return Code. Negative value： I32 Error code： Please refer to APS Functions Return Code. # Example： In following case, thedi interrupt occurs when any of bits on the DI32 slave module are changed. The module occupies id 1. I32 Module\_No = 1; I32 BUS\_No = 0; I32 IntNo; //int number I32 returnCode; // function return code ```c 132 bitsOfCheck = 0xffffffff; //1. Enable int APS_int_enable( Board_ID, Enable ); ``` ```c //2. Interrupt factor setting IntNo = APS_set_field_bus_int_factor_di (Board_ID, BUS_No, MOD_No, bitsOfCheck); ``` ```c //3. Wait int returnCode = APS_wait_single_int( IntNo, 10000 ); //Wait for 10 sec. If( ret == 0 ) //receive interrupt { ....// do something } //clear int APS_reset_int( IntNo ); ``` # See also： APS\_int\_enable();APS\_get\_field\_bus\_int\_factor\_di();APS\_wait\_single\_int(); APS\_wait\_multiple\_int(); APS\_reset\_int(); APS\_set\_int() # APS\_get\_field\_bus\_int\_factor\_di Support Products： PCI(e)-7856 # Descriptions： This function is used to get the setting of DI interrupt bits. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_field\_bus\_int\_factor\_di( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 \*bitsOfCheck ); ```txt Visual Basic : ``` APS\_get\_field\_bus\_int\_factor\_di ( ByVal Board\_ID As Long, ByVal BUS\_No, ByVal MOD\_No As Long, ByRef bitsOfCheck As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number. Value： 0\~1, In PCI(e)-7856, this value must be 0. I32 MOD\_No： The first id occupied by HSL slave module. It can’t be 0. I32 \*bitsOfCheck： Return di interrupt bits. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ReturnCode; I32 bitsOfCheck; ReturnCode = APS\_get\_field\_bus\_int\_factor\_di ( Board\_ID, BUS\_No, MOD\_No, &bitsOfCheck); # See also： APS\_int\_enable();APS\_set\_field\_bus\_int\_factor\_di();APS\_wait\_single\_int(); APS\_wait\_multiple\_int(); APS\_reset\_int(); APS\_set\_int() # 12.Sampling # APS\_set\_sampling\_param Support Products： PCI-8253/56, PCI-8392(H), MNET-4XMO , PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to set sampling parameters such as sampling rate, sampling channel source and so on. Please refer to the sampling parameters table for the definition and detail descriptions. On PCI-8253/56 and PCI-8392(H) and PCI-8254/58 / AMP-204/8C and PCIe-833x, sampling function is only for the boards have DSP or CPU inside. It is for real-time issue. The sampling functions garantees each sampled point are record under hard realtime environment. On MNET-4XMO, sampling function is based on the system timer. So, the system state would affect the accuracy of sampling data. According to our test, the higher sampling rate you set the worse accuracy you get. # Syntax： C/C++： I32 FNTYPE APS\_set\_sampling\_param( I32 Board\_ID, I32 Param\_No, I32 Param\_Dat ); Visual Basic： APS\_set\_sampling\_param( ByVal Board\_ID As Long, ByVal ParaNum As Long, ByVal ParaDat As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Param\_No： Specified sampling parameter number, refer to sampling parameters table for definition. I32 Param\_Dat： The corresponding parameter value of sampling number. Refer to the sampling table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： //... initial card. I32 Ret = APS\_set\_sampling\_param( Board\_ID, SAMP\_PA\_RATE, 2 ); //Set sampling rate # See also： APS\_get\_sampling\_param();APS\_wait\_trigger\_sampling() # APS\_get\_sampling\_param Support Products： PCI-8253/56, PCI-8392(H), MNET-4XMO, PCI-8254/58 / AMP-204/8C, PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to get sampling parameters such as sampling rate, sampling channel source and so on. Please refer to the sampling parameters table for the definition and detail descriptions. # Syntax： C/C++： I32 FNTYPE APS\_get\_sampling\_param( I32 Board\_ID, I32 ParaNum, I32 \*ParaDat ); Visual Basic： APS\_get\_sampling\_param( ByVal Board\_ID As Long, ByVal ParaNum As Long, ParaDat As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 ParaNum： Sampling parameter number. Refer to the sampling parameters table. I32 \*ParaDat： Return sampling parameter value. Refer to the sampling parameters table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ParaDat： Ret = APS\_set\_sampling\_param( Board\_ID, SAMP\_PA\_EDGE, & ParaDat ); //Get trigger edge … # See also： APS\_set\_sampling\_param();APS\_wait\_trigger\_sampling() # APS\_wait\_trigger\_sampling Support Products： PCI-8253/56, PCI-8392(H), MNET-4XMO, PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to sample data from controller. When the function is issued, the program stating to sample the information and put the data to the internal buffer. Until the trigger signal is turned on, program fetched a mass of data which size is pre-trigger length from internal buffer to the user’s data buffer and continuous sample the data until reach the length that users designated. In other hand, if the timeout time is reached and the trigger signal does not raised, this function will be timeout and return an error message. Use APS\_stop\_wait\_sampling to forced stop the wait sampling Caution： APS\_wait\_trigger\_sampling and APS\_wait\_trigger\_sampling\_async and APS\_auto\_sampling functions cannot be used at the same time. # Syntax： C/C++： I32 FNTYPE APS\_wait\_trigger\_sampling( I32 Board\_ID, I32 Length, I32 PreTrgLen, I32 TimeOutMs, STR\_SAMP\_DATA\_4CH \*DataArr ); Visual Basic： APS\_wait\_trigger\_sampling(ByValBoard\_ID As Long, ByVal Length As Long, ByVal PreTrgLen As Long, ByVal TimeOutMs As Long, DataArr As STR\_SAMP\_DATA\_4CH ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Length： The number of sampling data. (array size) I32 PreTrgLen： Pre-trigger length. I32 TimeOutMs： Timeout time. Unit is millisecond. STR\_SAMP\_DATA\_4CH \*DataArr： Get sampling data structure array. Array size must be larger than the parameter “Length”. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： //... initial card. ```lisp APS_set_sampling_param( Board_ID, SAMP_PA_RATE, 2 ); //Set sampling rate APS_set_sampling_param( Board_ID, SAMP_PA_EDGE, 0 ); //Set trigger edge (rising edge) APS_set_sampling_param( Board_ID, SAMP_PA_LEVEL, 1 ); //Set trigger level (1) APS_set_sampling_param( Board_ID, SAMP_PA_TRIGCH, 0 ); //Set trigger channel (channel 0) APS_set_sampling_param( Board_ID, SAMP_PA_SRC_CH0, SAMP_CMD_VEL ); //Set channel_0 sampling source. APS_set_sampling_param( Board_ID, SAMP_PA_SRC_CH1, SAMP_MIO_INP ); //Set channel_1 sampling source. I32 Length = 1024; //Total sampling data array size. I32 PreTrgLen = 100; //The number of pre-trigger points STR_SAMP_DATA_4CH DataArr[1024]; I32 TimeOutMs = 10000; //10 second timeout Ret = APS_wait_trigger_sampling( Board_ID, Length, PreTrgLen, TimeOutMs, DataArr ); If( Ret == ERR_NoError ) { //Sampling succeeded // DataArr are ready to used. } ``` # See also： APS\_set\_sampling\_param(); APS\_get\_sampling\_param(); APS\_stop\_wait\_sampling() # APS\_wait\_trigger\_sampling\_async Support Products： PCI-8253/56, PCI-8392(H), MNET-4XMO, PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to sample data from controller. This function will return immediately. And create a background thread to sampling the data. Use APS\_get\_sampling\_count function to get the count of data be sampled. When the sampled count reachs data length, it means sampling finish. If sample count = -1, it means wait failed. Use APS\_stop\_wait\_sampling to forced stop the asynchronous wait sampling. The sampling count than will become -1. # Caution： APS\_wait\_trigger\_sampling and APS\_wait\_trigger\_sampling\_async and APS\_auto\_sampling functions cannot be used at the same time. # Syntax： C/C++： I32 FNTYPE APS\_wait\_trigger\_sampling\_async( I32 Board\_ID, I32 Length, I32 PreTrgLen, I32 TimeOutMs, STR\_SAMP\_DATA\_4CH \*DataArr ); Visual Basic： APS\_wait\_trigger\_sampling\_async(ByVal Board\_ID As Long, ByVal Length As Long, ByVal PreTrgLen As Long, ByVal TimeOutMs As Long, DataArr As STR\_SAMP\_DATA\_4CH )As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Length： The number of sampling data. (array size) I32 PreTrgLen： Pre-trigger length. I32 TimeOutMs： Timeout time. Unit is millisecond. STR\_SAMP\_DATA\_4CH \*DataArr： Get sampling data structure array. Array size must be larger than the parameter “Length”. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： //... initial card. APS\_set\_sampling\_param( Board\_ID, SAMP\_PA\_RATE, 2 ); //Set sampling rate APS\_set\_sampling\_param( Board\_ID, SAMP\_PA\_EDGE, 0 ); //Set trigger edge (rising edge) APS\_set\_sampling\_param( Board\_ID, SAMP\_PA\_LEVEL, 1 ); //Set trigger level ( 1) APS\_set\_sampling\_param( Board\_ID, SAMP\_PA\_TRIGCH, 0 ); //Set trigger channel (channel 0) APS\_set\_sampling\_param( Board\_ID, SAMP\_PA\_SRC\_CH0, SAMP\_CMD\_VEL ); //Set channel\_0 sampling source. APS\_set\_sampling\_param( Board\_ID, SAMP\_PA\_SRC\_CH1, SAMP\_MIO\_INP ); //Set channel\_1 sampling source. //Start a asynchronous wait sampling. I32 Length = 1024; //Total sampling data array size. I32 PreTrgLen = 100; //The number of pre-trigger points STR\_SAMP\_DATA\_4CH DataArr[1024]; I32 TimeOutMs = 10000; //10 second timeout I32 Ret; Ret =APS\_wait\_trigger\_sampling\_async( Board\_ID, Length, PreTrgLen, TimeOutMs, DataArr ); ```c if( Ret != ERR_NoError ) { //Show error message } else { while( count < Length ) { APS_get_sampling_count( Board_ID, &count ); If( count == -1 ) { //Sampling failed, // Break program.; } If( ForceStop ) { APS_stop_wait_sampling(Board_ID); } } If( count == Length ) { //Sampling succeeded // DataArr are ready to used. } } ``` See also： APS\_get\_sampling\_count(); APS\_wait\_trigger\_sampling(); APS\_stop\_wait\_sampling() # APS\_get\_sampling\_count Support Products： PCI-8253/56, PCI-8392(H), MNET-4XMO, PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to get asynchronous wait sampling dat count. In the first way, start a trigger sampling operation using APS\_wait\_trigger\_sampling\_async, user need to get sampling count to check the operation is finish success or failed. In the second way, start a sampling operation using APS\_auto\_sampling, user could get sampling count. # Syntax： C/C++： I32 FNTYPE APS\_get\_sampling\_count( I32 Board\_ID, I32 \*SampCnt ); Visual Basic： APS\_get\_sampling\_count(ByVal Board\_ID As Long, SampCnt As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 \*SampCnt： Return sampled data count. If return -1 mean sampling failed. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Refer to APS\_wait\_trigger\_sampling\_async example. # See also： APS\_set\_sampling\_param();APS\_get\_sampling\_param();APS\_stop\_wait\_sampling(); APS\_wait\_trigger\_sampling(); APS\_wait\_trigger\_sampling\_async() # APS\_stop\_wait\_sampling Support Products： PCI-8253/56, PCI-8392(H), MNET-4XMO, PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to forced stop APS\_wait\_trigger\_sampling and APS\_wait\_trigger\_sampling\_asnyc function. # Syntax： C/C++： I32 FNTYPE APS\_stop\_wait\_sampling( I32 Board\_ID ); Visual Basic： APS\_stop\_wait\_sampling(ByVal Board\_ID As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Refer to APS\_wait\_trigger\_sampling\_asnyc example # See also： APS\_wait\_trigger\_sampling(); APS\_wait\_trigger\_sampling\_async() # APS\_auto\_sampling Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to implement auto sampling operation. It creates a background thread to sample data. User could use APS\_get\_sampling\_data / APS\_get\_sampling\_data\_ex to get sampling data and monitor internal buffer status. Four states of the buffer could be monitored, that includes “STOP”, “WORK”, “EMPTY” and “FULL” states. Use APS\_get\_sampling\_count function to get the count of data be sampled. If sample count = -1, it means that auto sampling has already stopped. After enabling, a thread of sampling data start to run and an internal buffer is also built to store sampling data. This buffer is finite space including up to 65535 sampling data, user needs to continuously get sampling data using APS\_get\_sampling\_data(). It is necessary to continuously consume those data of the buffer, and the buffer could be reused to store more sampling data. Generally speaking, the buffer is always in WORK state. It means that it is impossible to miss any sampling data and the polling frequency of getting data in user side is just suitable. There is a chance of losing sampling data if the internal buffer is full of data, sampled from DSP side. In FULL state, for example, the sequential sampling data from DSP may be thrown until user gets buffer data to consume parts of data of the buffer. On the other hand, if the internal buffer is in EMPTY status, it means that getting data from the buffer is faster than sampling from DSP side. User could eliminate frequency of getting data, changing polling timer to slower one. It would increase your CPU performance to do other things. Caution： These is a set of API functions for auto sampling, including APS\_auto\_sampling() and APS\_get\_sampling\_data() / APS\_get\_sampling\_data\_ex(). Don’t mix with other trigger functions like APS\_wait\_trigger\_sampling(), APS\_wait\_trigger\_sampling\_async() and APS\_stop\_wait\_sampling(). # Syntax： C/C++： I32 FNTYPE APS\_auto\_sampling( I32 Board\_ID, I32 StartStop ); Visual Basic： APS\_auto\_sampling (ByVal Board\_ID As Long, ByVal StartStop As Long )As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 StartStop： 1： Start auto sampling, 0： Stop auto sampling. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： APS\_set\_sampling\_param( Board\_ID, SAMP\_PA\_RATE, 1 ); //Set sampling rate APS\_set\_sampling\_param( Board\_ID, SAMP\_PA\_SRC\_CH0, SAMP\_CMD\_VEL ); //Set channel\_0 sampling source. APS\_set\_sampling\_param( Board\_ID, SAMP\_PA\_SRC\_CH1, SAMP\_MIO\_INP ); //Set channel\_1 sampling source. //Start auto sampling. STR\_SAMP\_DATA\_4CH DataArr[500]; //Be the same size with length I32 ret; I32 length = 500; //User specifies a length to get data I32 retLength = 0; //Physical length of returned data I32 status; //Monitor buffer state I32 start = 1; APS\_auto\_sampling( Board\_ID, start ); //Auto sampling start processing ```lisp timer(10ms) { if( start == 1 ) { Length = 500; //User specifies a length to get data APS_get_sampling_data(Board_ID, &length, DataArr, &status ); //return physical length // Monitor buffer status if(status == 1 ) //buffer is in "WORK" state { //get data – returned length depends on remain data in buffer } else if(status == 2 ) //buffer is full { //get data //Sampling data may be lost } else if(status == 3 ) //buffer is empty { // get no data – returned length is 0 } For( i=0; i<length; i++ ) { // DataArr are ready to used. } } } ``` APS\_auto\_sampling( Board\_ID, 0 ); //Stop auto sampling See also： APS\_get\_sampling\_data(); APS\_get\_sampling\_count() # APS\_get\_sampling\_data Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to sample data after starting auto sampling. It is also used to monitor sampling status. Refer to Aps\_auto\_sampling() for details. Four states are defined below： <table>StateDescriptionSTOP (0)Auto sampling stoppedWORK (1)Auto sampling startedFULL (2)The internal buffer is full. It is a caution for lost sampling data.Because buffer is full of data, newer sampling data are automatically thrown until user consumes parts of data from buffer.EMPTY (3)The internal buffer is empty. Returned length must be zero and get no data Caution： These is a set of API functions for auto sampling, including Aps\_auto\_sampling() and APS\_get\_sampling\_data(). Don’t mix with other trigger functions like APS\_wait\_trigger\_sampling, APS\_wait\_trigger\_sampling\_async and APS\_stop\_wait\_sampling. # Syntax： C/C++： I32 FNTYPE APS\_get\_sampling\_data( I32 Board\_ID, I32 \*Length, STR\_SAMP\_DATA\_4CH \*DataArr, I32 \*Status ); Visual Basic： APS\_get\_sampling\_data(ByVal Board\_ID As Long, Length As Long, DataArr As STR\_SAMP\_DATA\_4CH, Status As Long )As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 \*Length： Bi-direction. User need to specify a maximum size to get data, usually the same with array size of “DataArr”. Returned length is physical size of get back sampling data. STR\_SAMP\_DATA\_4CH \*DataArr： Get sampling data structure array. Array size must be equal with or larger than the parameter “\*Length”. I32 \*Status： The buffer state. 0： STOP state, 1： WORK state, 2： EMPTY state, 3： FULL state. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： //... initial card. APS\_set\_sampling\_param( Board\_ID, SAMP\_PA\_RATE, 1 ); //Set sampling rate APS\_set\_sampling\_param( Board\_ID, SAMP\_PA\_SRC\_CH0, SAMP\_CMD\_VEL ); //Set channel\_0 sampling source. APS\_set\_sampling\_param( Board\_ID, SAMP\_PA\_SRC\_CH1, SAMP\_MIO\_INP ); //Set channel\_1 sampling source. //Start auto sampling. STR\_SAMP\_DATA\_4CH DataArr[500]; //Be the same size with length I32 ret; I32 length = 500; //User specifies a length to get data I32 retLength = 0; //Physical length of returned data I32 status; //Monitor buffer state I32 start = 1; APS\_auto\_sampling( Board\_ID, start ); //Auto sampling start processing ```c Timer(10ms) { If( start == 1 ) { Length = 500; //User specifies a length to get data APS_get_sampling_data(Board_ID, &length, DataArr, &status ); //return physical length //Monitor buffer status If(status == 1 ) //buffer is in "WORK" state { //get data – returned length depends on remain data in buffer } Else if(status == 2 ) //buffer is full { //get data //some sampling data may be lost } Else if(status == 3 ) //buffer is empty { // get no data – returned length is 0 } For( i=0; i<length; i++ ) { // DataArr are ready to used. } } } APS_auto_sampling( Board_ID, 0 ); //Stop auto sampling ``` # See also： APS\_auto\_sampling(); APS\_get\_sampling\_count() # APS\_set\_sampling\_param\_ex Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to set sampling parameters at once such as sampling rate, sampling channel source and so on. The related parameters of 8 channels are structured by SAMP\_PARAM. There are common settings including sampling rate, sampling edge, sampling level and sampling channel in SAMP\_PARAM structure. There are also other settings by channel, including sampling source & axis in SAMP\_PARAM structure. Sampling function is only for the boards have DSP inside. It is for real-time issue. The sampling functions guarantees each sampled point are record under hard realtime environment. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_sampling\_param\_ex( I32 Board\_ID, SAMP\_PARAM \*Param ); Visual Basic： APS\_set\_sampling\_param\_ex (ByVal Board\_ID As Long, ByRef Param As SAMP\_PARAM) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). SAMP\_PARAM \*Param： A structure for setting sampling parameters typedef struct \_SAMP\_PARAM { I32 rate; //Sampling rate [ 1 \~ 65535 times of cycle] I32 edge; //Trigger edge [ 0： Rising edge, 1： Faling edge ] I32 level; //Trigger level [ -214743648 \~ 2147483647 ] I32 trigCh; //Trigger channel [ 0 \~ 7 ] I32 sourceByCh[8][2]; //Sampling source by channel, named sourceByCh[a][b], //a： Specify a Channel. Total channels are 8 to be configured. //b： 0： Sampling source, refer to following table 1： Sampling axis //Sampling source： F64 data occupies two channels, I32 data occupies one channel. } SAMP\_PARAM, \*PSAMP\_PARAM; <table>SourceSymbol DefineData typeValue range0x00SAMP_SRC_COM_POSI32command position0x01SAMP_SRC_FBK_POSI32feedback position0x02SAMP_SRC_CMD_VELI32command velocity0x03SAMP_SRC_FBK_VELI32feedback velocity0x04SAMP_SRC_MIOI32motion IO0x05SAMP_SRC_MSTSI32motion status0x06SAMP_SRC_MSTS_ACCI32motion status acc0x07SAMP_SRC_MSTS_MVI32motion status at max velocity0x08SAMP_SRC_MSTS_DECI32motion status at dec0x09SAMP_SRC_MSTS_CSTPI32motion status CSTP0x0ASAMP_SRC_MSTS_MDNI32motion status MDN0x0BSAMP_SRC_MIO_INPI32motion status INP0x0DSAMP_SRC_MIO_ORGI32motion status OGR0x20SAMP_SRC_CONTROL_VOLI32Control command voltage0x22SAMP_SRC_ENCODER_RAWI32Encoder raw data0x23SAMP_SRC_ERR_POSI32Error position0x10SAMP_SRC_COM_POS_F64F64Command position0x11SAMP_SRC_FBK_POS_F64F64Feedback position0x12SAMP_SRC_CMD_VEL_F64F64Command velocity0x13SAMP_SRC_FBK_VEL_F64F64Feedback velocity0x14SAMP_SRC_CONTROL_VOL_F64F64Control command voltage0x15SAMP_SRC_ERR_POS_F64F64Error position # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： SAMP\_PARAM Param; Param.rate = 1; // Sampling rate Param.edge = 0; // Rising edge Param.level = 1000; // Trigger level Param.trigCh = 0; //Channel 0 Param.sourceByCh[0][0] = 0; //Set command position(I32) to sampling source of channel 0 Param.sourceByCh[0][1] = 1; //Set axis 1 to sampling source of channel 0 Param.sourceByCh[1][0] = 1; //Set feedback position(I32) to sampling source of channel 1 Param.sourceByCh[1][1] = 0; //Set axis 0 to sampling source of channel 1 //….set other channels including channel 0 to channel 7 I32 Ret = APS\_set\_sampling\_param\_ex( Board\_ID, &Param ); //Set sampling parameters # See also： APS\_get\_sampling\_param\_ex(); APS\_wait\_trigger\_sampling\_ex() # APS\_get\_sampling\_param\_ex Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to get sampling parameters at once such as sampling rate, sampling channel source and so on. Refer to APS\_set\_sampling\_param\_ex(). # Syntax： C/C++： I32 FNTYPE APS\_get\_sampling\_param\_ex( I32 Board\_ID, SAMP\_PARAM \*Param ); Visual Basic： APS\_get\_sampling\_param\_ex (ByVal Board\_ID As Long, ByRef Param As SAMP\_PARAM) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). SAMP\_PARAM \*Param： A structure for setting sampling parameters # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： SAMP\_PARAM Param; Ret = APS\_get\_sampling\_param\_ex( Board\_ID, &Param); //Get all paramters # See also： APS\_set\_sampling\_param\_ex();APS\_wait\_trigger\_sampling\_ex() # APS\_wait\_trigger\_sampling\_ex Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to sample data from controller. When the function is issued, the program stating to sample the information and put the data to the internal buffer. Until the trigger signal is turned on, program fetched a mass of data which size is pre-trigger length from internal buffer to the user’s data buffer and continuous sample the data until reach the length that users designated. In other hand, if the timeout time is reached and the trigger signal does not raised, this function will be timeout and return an error message. Use APS\_stop\_wait\_sampling to forced stop the wait sampling. Caution： APS\_wait\_trigger\_sampling\_ex, APS\_wait\_trigger\_sampling\_async\_ex and APS\_auto\_sampling\_ex functions cannot be used at the same time. Syntax： C/C++： I32 FNTYPE APS\_wait\_trigger\_sampling\_ex( I32 Board\_ID, I32 Length, I32 PreTrgLen, I32 TimeOutMs, STR\_SAMP\_DATA\_8CH \*DataArr ); Visual Basic： APS\_wait\_trigger\_sampling\_ex(ByValBoard\_ID As Long, ByVal Length As Long, ByVal PreTrgLen As Long, ByVal TimeOutMs As Long, DataArr As STR\_SAMP\_DATA\_8CH ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Length： The number of sampling data. (array size) I32 PreTrgLen： Pre-trigger length. I32 TimeOutMs： Timeout time. Unit is millisecond. STR\_SAMP\_DATA\_8CH \*DataArr： Get sampling data structure array. Array size must be larger than the parameter “Length”. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： //... initial card. SAMP\_PARAM Param; ```javascript Param.rate = 1; // Sampling rate Param.edge = 0; // Rising edge Param.level = 1000; // Trigger level Param.trigCh = 0; // Channel 0 Param.sourceByCh[0][0] = 1; // Set axis 1 to sampling source of channel 0 Param.sourceByCh[0][1] = 0; // Set command position(I32) to sampling source of channel 0 Param.sourceByCh[1][0] = 0; // Set axis 0 to sampling source of channel 1 Param.sourceByCh[1][1] = 1; // Set feedback position(I32) to sampling source of channel 1 // .... set other channels including channel 0 to channel 7 ``` ```txt I32 Ret = APS_set_sampling_param_ex( Board_ID, &Param ); //Set sampling parameters ``` ```txt I32 Length = 1024; //Total sampling data array size. I32 PreTrgLen = 100; //The number of pre-trigger points STR_SAMP_DATA_8CH DataArr[1024]; I32 TimeOutMs = 10000; //10 second timeout ``` ```c Ret = APS_wait_trigger_sampling_ex( Board_ID, Length, PreTrgLen, TimeOutMs, &DataArr ); If( Ret == ERR_NoError ) { //Sampling succeeded // DataArr are ready to used. } ``` ```txt See also : APS_set_sampling_param_ex(); APS_get_sampling_param_ex(); APS_stop_wait_sampling_ex() ``` # APS\_wait\_trigger\_sampling\_async\_ex Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to sample data from controller. This function will return immediately. And create a background thread to sampling the data. Use APS\_get\_sampling\_count function to get the count of data be sampled. When the sampled count reachs data length, it means sampling finish. If sample count = -1, it means wait failed. Use APS\_stop\_wait\_sampling to forced stop the asynchronous wait sampling. The sampling count than will become -1. Caution： APS\_wait\_trigger\_sampling\_ex, APS\_wait\_trigger\_sampling\_async\_ex and APS\_auto\_sampling\_ex functions cannot be used at the same time. # Syntax： C/C++： I32 FNTYPE APS\_wait\_trigger\_sampling\_async\_ex( I32 Board\_ID, I32 Length, I32 PreTrgLen, I32 TimeOutMs, STR\_SAMP\_DATA\_8CH \*DataArr ); Visual Basic： APS\_wait\_trigger\_sampling\_async\_ex(ByVal Board\_ID As Long, ByVal Length As Long, ByVal PreTrgLen As Long, ByVal TimeOutMs As Long, DataArr As STR\_SAMP\_DATA\_8CH )As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Length： The number of sampling data. (array size) I32 PreTrgLen： Pre-trigger length. I32 TimeOutMs： Timeout time. Unit is millisecond. STR\_SAMP\_DATA\_8CH \*DataArr： Get sampling data structure array. Array size must be larger than the parameter “Length”. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： //... initial card. SAMP\_PARAM Param; ```javascript Param.rate = 1; // Sampling rate Param.edge = 0; // Rising edge Param.level = 1000; // Trigger level Param.trigCh = 0; // Channel 0 Param.sourceByCh[0][0] = 1; // Set axis 1 to sampling source of channel 0 Param.sourceByCh[0][1] = 0; // Set command position(I32) to sampling source of channel 0 Param.sourceByCh[1][0] = 0; // Set axis 0 to sampling source of channel 1 Param.sourceByCh[1][1] = 1; // Set feedback position(I32) to sampling source of channel 1 // .... set other channels including channel 0 to channel 7 ``` I32 Ret = APS\_set\_sampling\_param\_ex( Board\_ID, &Param ); //Set sampling parameters ```c //Start a asynchronous wait sampling. I32 Length = 1024; //Total sampling data array size. I32 PreTrgLen = 100; //The number of pre-trigger points STR_SAMP_DATA_8CH DataArr[1024]; I32 TimeOutMs = 10000; //10 second timeout I32 Ret; ``` Ret =APS\_wait\_trigger\_sampling\_async\_ex( Board\_ID, Length, PreTrgLen, TimeOutMs, DataArr ); ```txt if( Ret != ERR_NoError ) { //Show error message } else { while( count < Length ) { APS_get_sampling_count( Board_ID, &count ); If( count == -1 ) { //Sampling failed, // Break program.; } If( ForceStop ) { APS_stop_wait_sampling(Board_ID); } } If( count == Length ) { //Sampling succeeded // DataArr are ready to used. } } ``` # See also： APS\_get\_sampling\_count(); APS\_wait\_trigger\_sampling\_ex(); APS\_stop\_wait\_sampling # APS\_get\_sampling\_data\_ex Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to sample data after starting auto sampling. It is also used to monitor sampling status. Refer to APS\_auto\_sampling() for details. Four states are defined below： <table>StateDescriptionSTOP (0)Auto sampling stoppedWORK (1)Auto sampling startedEMPTY (2)The internal buffer is empty. Returned length must be zero and get no dataFULL (3)The internal buffer is full. It is a caution for lost sampling data. Because buffer is full of data, newer sampling data are automatically thrown until user consumes parts of data from buffer. Caution： These is a set of API functions for auto sampling, including APS\_auto\_sampling() and APS\_get\_sampling\_data\_ex(). Don’t mix with other trigger functions like APS\_wait\_trigger\_sampling\_ex, APS\_wait\_trigger\_sampling\_async\_ex and APS\_stop\_wait\_sampling. # Syntax： C/C++： I32 FNTYPE APS\_get\_sampling\_data\_ex( I32 Board\_ID, I32 \*Length, STR\_SAMP\_DATA\_8CH \*DataArr, I32 \*Status ); Visual Basic： APS\_get\_sampling\_data\_ex(ByVal Board\_ID As Long, Length As Long, DataArr As STR\_SAMP\_DATA\_8CH, Status As Long )As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 \*Length： Bi-direction. User need to specify a maximum size to get data, usually the same with array size of “DataArr”. Returned length is physical size of get back sampling data. STR\_SAMP\_DATA\_8CH \*DataArr： Get sampling data structure array. Array size must be equal with or larger than the parameter “\*Length”. I32 \*Status： The buffer state. 0： STOP state, 1： WORK state, 2： EMPTY state, 3： FULL state. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： //... initial card. SAMP\_PARAM Param; Param.rate = 1; // Sampling rate Param.edge = 0; // Rising edge Param.level = 1000; // Trigger level Param.trigCh = 0; //Channel 0 Param.sourceByCh[0][0] = 1; //Set axis 1 to sampling source of channel 0 Param.sourceByCh[0][1] = 0; //Set command position(I32) to sampling source of channel 0 Param.sourceByCh[1][0] = 0; //Set axis 0 to sampling source of channel 1 Param.sourceByCh[1][1] = 1; //Set feedback position(I32) to sampling source of channel 1 //….set other channels including channel 0 to channel 7 I32 Ret = APS\_set\_sampling\_param\_ex( Board\_ID, &Param ); //Set sampling parameters //Start auto sampling. STR\_SAMP\_DATA\_8CH DataArr[500]; //Be the same size with length I32 ret; I32 length = 500; //User specifies a length to get data I32 retLength = 0; //Physical length of returned data I32 status; //Monitor buffer state I32 start = 1; APS\_auto\_sampling( Board\_ID, start ); //Auto sampling start processing ```c Timer(10ms) { If( start == 1 ) { Length = 500; //User specifies a length to get data APS_get_sampling_data_ex(Board_ID, &length, DataArr, &status ); //return physical length //Monitor buffer status If(status == 1 ) //buffer is in "WORK" state { //get data – returned length depends on remain data in buffer } Else if(status == 2 ) //buffer is full { //get data //some sampling data may be lost } Else if(status == 3 ) //buffer is empty { ``` ```c // get no data – returned length is 0 } For( i=0; i<length; i++ ) { // DataArr are ready to used. } } APS_auto_sampling( Board_ID, 0 ); //Stop auto sampling ``` See also： ```txt APS_auto_sampling(); APS_get_sampling_count() ``` # APS\_set\_sampling\_param\_advanced Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT # Descriptions： This function is used to set advanced sampling parameters at once such as sampling rate, sampling channel source and so on. The related parameters of 16 channels are structured by SAMP\_PARAM\_ADV. There are common settings including sampling rate, sampling edge, sampling level and sampling channel in SAMP\_PARAM\_ADV structure. There are also other settings by channel, including sampling source & axis in SAMP\_PARAM\_ADV structure. Sampling function is only for the boards have DSP inside. It is for real-time issue. The sampling functions guarantees each sampled point are record under hard realtime environment. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_sampling\_param\_advanced( I32 Board\_ID, SAMP\_PARAM\_ADV \*Param ); Visual Basic： APS\_set\_sampling\_param\_advanced( ByVal Board\_ID As Long, ByRef Param As SAMP\_PARAM\_ADV ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). SAMP\_PARAM\_ADV \*Param： A structure for setting sampling parameters typedef struct \_SAMP\_PARAM\_ADV { I32 rate; //Sampling rate [ 1 \~ 65535 times of cycle] I32 edge; //Trigger edge [ 0： Rising edge, 1： Faling edge ] I32 level; //Trigger level [ -214743648 \~ 2147483647 ] I32 trigCh; //Trigger channel [ 0 \~ 15 ] I32 sourceByCh[16][2]; //Sampling source by channel, named sourceByCh[a][b], //a： Specify a Channel. Total channels are 16 to be configured. //b： 0： Sampling source, refer to following table 1： Sampling axis //Sampling source： F64 data occupies two channels, I32 data occupies one channel. } SAMP\_PARAM\_ADV, \*PSAMP\_PARAM\_ADV; <table>SourceSymbol DefineData typeValue range0x00SAMP_SRC_COM_POSI32command position0x01SAMP_SRC_FBK_POSI32feedback position0x02SAMP_SRC_CMD_VELI32command velocity0x03SAMP_SRC_FBK_VELI32feedback velocity0x04SAMP_SRC_MIOI32motion IO0x05SAMP_SRC_MSTSI32motion status0x06SAMP_SRC_MSTS_ACCI32motion status acc0x07SAMP_SRC_MSTS_MVI32motion status at max velocity0x08SAMP_SRC_MSTS_DECI32motion status at dec0x09SAMP_SRC_MSTS_CSTPI32motion status CSTP0x0ASAMP_SRC_MSTS_MDNI32motion status MDN0x0BSAMP_SRC_MIO_INPI32motion status INP0x0DSAMP_SRC_MIO_ORGI32motion status OGR0x20SAMP_SRC_CONTROL_VOLI32Control command voltage0x22SAMP_SRC_ENCODER_RAWI32Encoder raw data0x23SAMP_SRC_ERR_POSI32Error position # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt SAMP_PARAM_ADV Param; Param.rate = 1; // Sampling rate Param.edge = 0; // Rising edge Param.level = 1000; // Trigger level Param.trigCh = 0; //Channel 0 Param.sourceByCh[0][0] = 1; //Set axis 1 to sampling source of channel 0 Param.sourceByCh[0][1] = 0; //Set command position(I32) to sampling source of channel 0 Param.sourceByCh[1][0] = 0; //Set axis 0 to sampling source of channel 1 Param.sourceByCh[1][1] = 1; //Set feedback position(I32) to sampling source of channel 1 //.....set other channels including channel 0 to channel 15 ``` ```txt I32 Ret = APS_set_sampling_param_advanced( Board_ID, &Param ); //Set sampling parameters ... ``` # See also： APS\_get\_sampling\_param\_advanced(); APS\_wait\_trigger\_sampling\_ advanced () # APS\_get\_sampling\_param\_ advanced Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT # Descriptions： This function is used to get advanced sampling parameters at once such as sampling rate, sampling channel source and so on. Refer to APS\_set\_sampling\_param\_advanced (). # Syntax： C/C++： I32 FNTYPE APS\_get\_sampling\_param\_ advanced( I32 Board\_ID, SAMP\_PARAM\_ADV \*Param ); Visual Basic： APS\_get\_sampling\_param\_ advanced( ByVal Board\_ID As Long, ByRef Param As SAMP\_PARAM\_ADV ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). SAMP\_PARAM\_ADV \*Param： A structure for setting advanced sampling parameters # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： SAMP\_PARAM\_ADV Param; Ret = APS\_get\_sampling\_param\_advanced( Board\_ID, &Param); //Get all paramters # See also： APS\_set\_sampling\_param\_advanced();APS\_wait\_trigger\_sampling\_advanced() # APS\_wait\_trigger\_sampling\_advanced Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT # Descriptions： This function is used to sample data from controller. When the function is issued, the program stating to sample the information and put the data to the internal buffer. Until the trigger signal is turned on, program fetched a mass of data which size is pre-trigger length from internal buffer to the user’s data buffer and continuous sample the data until reach the length that users designated. In other hand, if the timeout time is reached and the trigger signal does not raised, this function will be timeout and return an error message. Use APS\_stop\_wait\_sampling to forced stop the wait sampling. Caution： APS\_wait\_trigger\_sampling\_advanced, APS\_wait\_trigger\_sampling\_async\_advanced and APS\_auto\_sampling functions cannot be used at the same time. Syntax： C/C++： I32 FNTYPE APS\_wait\_trigger\_sampling\_advanced( I32 Board\_ID, I32 Length, I32 PreTrgLen, I32 TimeOutMs, STR\_SAMP\_DATA\_ADV \*DataArr ); Visual Basic： APS\_wait\_trigger\_sampling\_advanced( ByValBoard\_ID As Long, ByVal Length As Long, ByVal PreTrgLen As Long, ByVal TimeOutMs As Long, DataArr As STR\_SAMP\_DATA\_ADV ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Length： The number of sampling data. (array size) I32 PreTrgLen： Pre-trigger length. I32 TimeOutMs： Timeout time. Unit is millisecond. STR\_SAMP\_DATA\_ADV \*DataArr： Get advanced sampling data structure array. Array size must be larger than the parameter “Length”. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： //... initial card. SAMP\_PARAM\_ADV Param; ```javascript Param.rate = 1; // Sampling rate Param.edge = 0; // Rising edge Param.level = 1000; // Trigger level Param.trigCh = 0; // Channel 0 Param.sourceByCh[0][0] = 1; // Set axis 1 to sampling source of channel 0 Param.sourceByCh[0][1] = 0; // Set command position(I32) to sampling source of channel 0 Param.sourceByCh[1][0] = 0; // Set axis 0 to sampling source of channel 1 Param.sourceByCh[1][1] = 1; // Set feedback position(I32) to sampling source of channel 1 //.....set other channels including channel 0 to channel 15 ``` ```objectivec // Set advanced sampling parameters I32 Ret = APS_set_sampling_param_advanced( Board_ID, &Param ); I32 Length = 1024; //Total sampling data array size. I32 PreTrgLen = 100; //The number of pre-trigger points STR_SAMP_DATA_ADV DataArr[1024]; I32 TimeOutMs = 10000; //10 second timeout ``` ```txt Ret = APS_wait_trigger_sampling_advanced( Board_ID, Length, PreTrgLen, TimeOutMs, &DataArr ); If( Ret == ERR_NoError ) { //Sampling succeeded // DataArr are ready to used. } ``` See also： ```cmake APS_set_sampling_param_advanced(); APS_get_sampling_param_advanced(); APS_stop_wait_sampling_advanced() ``` # APS\_wait\_trigger\_sampling\_async\_advanced Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT # Descriptions： This function is used to sample data from controller. This function will return immediately. And create a background thread to sampling the data. Use APS\_get\_sampling\_count function to get the count of data be sampled. When the sampled count reachs data length, it means sampling finish. If sample count = -1, it means wait failed. Use APS\_stop\_wait\_sampling to forced stop the asynchronous wait sampling. The sampling count than will become -1. Caution： APS\_wait\_trigger\_sampling\_advanced, APS\_wait\_trigger\_sampling\_async\_advanced and APS\_auto\_sampling functions cannot be used at the same time. # Syntax： C/C++： I32 FNTYPE APS\_wait\_trigger\_sampling\_async\_advanced( I32 Board\_ID, I32 Length, I32 PreTrgLen, I32 TimeOutMs, STR\_SAMP\_DATA\_ADV \*DataArr ); Visual Basic： APS\_wait\_trigger\_sampling\_async\_advanced( ByVal Board\_ID As Long, ByVal Length As Long, ByVal PreTrgLen As Long, ByVal TimeOutMs As Long, DataArr As STR\_SAMP\_DATA\_ADV ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Length： The number of sampling data. (array size) I32 PreTrgLen： Pre-trigger length. I32 TimeOutMs： Timeout time. Unit is millisecond. STR\_SAMP\_DATA\_ADV \*DataArr： Get advanced sampling data structure array. Array size must be larger than the parameter “Length”. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： //... initial card. SAMP\_PARAM\_ADV Param; ```javascript Param.rate = 1; // Sampling rate Param.edge = 0; // Rising edge Param.level = 1000; // Trigger level Param.trigCh = 0; // Channel 0 Param.sourceByCh[0][0] = 1; // Set axis 1 to sampling source of channel 0 Param.sourceByCh[0][1] = 0; // Set command position(I32) to sampling source of channel 0 Param.sourceByCh[1][0] = 0; // Set axis 0 to sampling source of channel 1 Param.sourceByCh[1][1] = 1; // Set feedback position(I32) to sampling source of channel 1 //.....set other channels including channel 0 to channel 15 ``` ```txt // Set advanced sampling parameters I32 Ret = APS_set_sampling_param_advanced( Board_ID, &Param ); //Start a asynchronous wait sampling. I32 Length = 1024; //Total sampling data array size. I32 PreTrgLen = 100; //The number of pre-trigger points STR_SAMP_DATA_ADV DataArr[1024]; I32 TimeOutMs = 10000; //10 second timeout I32 Ret; ``` Ret =APS\_wait\_trigger\_sampling\_async\_advanced( Board\_ID, Length, PreTrgLen, TimeOutMs, DataArr ); ```txt if( Ret != ERR_NoError ) { //Show error message } else { while( count < Length ) { APS_get_sampling_count( Board_ID, &count ); If( count == -1 ) { //Sampling failed, // Break program.; } If( ForceStop ) { APS_stop_wait_sampling(Board_ID); } } If( count == Length ) { //Sampling succeeded // DataArr are ready to used. } } ``` See also： APS\_get\_sampling\_count(); APS\_wait\_trigger\_sampling\_advanced(); APS\_stop\_wait\_sampling # APS\_get\_sampling\_data\_advanced Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT # Descriptions： This function is used to sample data after starting auto sampling. It is also used to monitor sampling status. Refer to APS\_auto\_sampling() for details. Four states are defined below： <table>StateDescriptionSTOP (0)Auto sampling stoppedWORK (1)Auto sampling startedEMPTY (2)The internal buffer is empty. Returned length must be zero and get no dataFULL (3)The internal buffer is full. It is a caution for lost sampling data. Because buffer is full of data, newer sampling data are automatically thrown until user consumes parts of data from buffer. Caution： These is a set of API functions for auto sampling, including APS\_auto\_sampling() and APS\_get\_sampling\_data\_advanced(). Don’t mix with other trigger functions like APS\_wait\_trigger\_sampling\_advanced, APS\_wait\_trigger\_sampling\_async\_advanced and APS\_stop\_wait\_sampling. # Syntax： C/C++： I32 FNTYPE APS\_get\_sampling\_data\_advanced( I32 Board\_ID, I32 \*Length, STR\_SAMP\_DATA\_ADV \*DataArr, I32 \*Status ); Visual Basic： APS\_get\_sampling\_data\_advanced( ByVal Board\_ID As Long, Length As Long, DataArr As STR\_SAMP\_DATA\_ADV, Status As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 \*Length： Bi-direction. User need to specify a maximum size to get data, usually the same with array size of “DataArr”. Returned length is physical size of get back sampling data. STR\_SAMP\_DATA\_ADV \*DataArr： Get advanced sampling data structure array. Array size must be equal with or larger than the parameter “\*Length”. I32 \*Status： The buffer state. 0： STOP state, 1： WORK state, 2： EMPTY state, 3： FULL state. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： //... initial card. SAMP\_PARAM\_ADV Param; Param.rate = 1; // Sampling rate Param.edge = 0; // Rising edge Param.level = 1000; // Trigger level Param.trigCh = 0; //Channel 0 Param.sourceByCh[0][0] = 1; //Set axis 1 to sampling source of channel 0 Param.sourceByCh[0][1] = 0; //Set command position(I32) to sampling source of channel 0 Param.sourceByCh[1][0] = 0; //Set axis 0 to sampling source of channel 1 Param.sourceByCh[1][1] = 1; //Set feedback position(I32) to sampling source of channel 1 //….set other channels including channel 0 to channel 15 //Set advanced sampling parameters I32 Ret = APS\_set\_sampling\_param\_advanced( Board\_ID, &Param ); //Start auto sampling. STR\_SAMP\_DATA\_ADV DataArr[500]; //Be the same size with length I32 ret; I32 length = 500; //User specifies a length to get data I32 retLength = 0; //Physical length of returned data I32 status; //Monitor buffer state I32 start = 1; APS\_auto\_sampling( Board\_ID, start ); //Auto sampling start processing ```txt Timer(10ms) { If( start == 1 ) { // User specifies a length to get data Length = 500; // Return physical length APS_get_sampling_data_advanced(Board_ID, &length, DataArr, &status); // Monitor buffer status If(status == 1) // buffer is in "WORK" state { // get data – returned length depends on remain data in buffer } Else if(status == 2) // buffer is full ``` ```c { // get data // some sampling data may be lost } Else if(status == 3) // buffer is empty { // get no data – returned length is 0 } For( i=0; i<length; i++ ) { // DataArr are ready to used. } } APS_auto_sampling( Board_ID, 0 ); // Stop auto sampling ``` See also： APS\_auto\_sampling(); APS\_get\_sampling\_count() # 13.DIO & AIO # APS\_set\_field\_bus\_d\_channel\_output Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT, PCIe-8364RS # Descriptions： This function is use to set field bus digital output by channel. For PCIe-833x, this API only support ADLINK’s slave or module like below table. <table>VendorSlave seriesModuleADLINKEU seriesEU-2008, EU-2108, EU-2016, EU-2116ADLINKEPS seriesEPS-2032, EPS-2132, EPS-2308ADLINKECAT-4XMO, ECAT-TRG4,ECAT-4XMO-MT, ECAT-TRG4-MTN/A If user needs to control other vendor slave via this API, please refer to PCIe-833x IO mapping and create configuration file. After calling APS\_load\_config\_from\_file API with configuration file created by IO mapping, user can operate this API. # Syntax： C/C++： I32 FNTYPE APS\_set\_field\_bus\_d\_channel\_output( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 Ch\_No, I32 DO\_Value ); Visual Basic： APS\_set\_field\_bus\_d\_channel\_output (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal Ch\_No As Long, ByVal DO\_Value As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0) I32 MOD\_No： The index of slave device. (start from 0) I32 Ch\_No： The index of digital output channel. (start from 0) I32 DO\_Value： The value of digital output. # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： See also： # APS\_get\_field\_bus\_d\_channel\_output Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT, PCIe-8364RS # Descriptions： This function is use to get field bus digital output by channel. For PCIe-833x, this API only support ADLINK’s slave or module like below table.
VendorSlave seriesModule
ADLINKEU seriesEU-2008, EU-2108, EU-2016, EU-2116
ADLINKEPS seriesEPS-2032, EPS-2132, EPS-2308
ADLINKECAT-4XMO, ECAT-TRG4,ECAT-4XMO-MT, ECAT-TRG4-MTN/A
If user needs to control other vendor slave via this API, please refer to PCIe-833x IO mapping and create configuration file. After calling APS\_load\_config\_from\_file API with configuration file created by IO mapping, user can operate this API. # Syntax： C/C++： I32 FNTYPE APS\_get\_field\_bus\_d\_channel\_output( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 Ch\_No, I32 \*DO\_Value ); Visual Basic： APS\_get\_field\_bus\_d\_channel\_output(ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal Ch\_No As Long, ByRef DO\_Value As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0) I32 MOD\_No： The index of slave device. (start from 0) I32 Ch\_No： The index of digital output channel. (start from 0) I32 DO\_Value： Return the value of digital output. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： See also： # APS\_get\_field\_bus\_d\_channel\_input Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT, PCIe-8364RS # Descriptions： This function is use to get field bus digital input by channel. For PCIe-833x, this API only support ADLINK’s slave or module like below table.
VendorSlave seriesModule
ADLINKEU seriesEU-1008, EU-1108, EU-1016, EU-1116
ADLINKEPS seriesEPS-1132, EPS-1032
ADLINKECAT-4XMO, ECAT-TRG4,ECAT-4XMO-MT, ECAT-TRG4-MTN/A
If user needs to control other vendor slave via this API, please refer to PCIe-833x IO mapping and create configuration file. After calling APS\_load\_config\_from\_file API with configuration file created by IO mapping, user can operate this API. # Syntax： C/C++： I32 FNTYPE APS\_get\_field\_bus\_d\_channel\_input( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 Ch\_No, I32 \*DI\_Value ); Visual Basic： APS\_get\_field\_bus\_d\_channel\_input (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal Ch\_No As Long, ByRef DI\_Value As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0) I32 MOD\_No： The index of slave device. (start from 0) I32 Ch\_No： The index of digital output channel. (start from 0) I32 \*DI\_Value： Return the value of digital input. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： See also： # APS\_set\_field\_bus\_d\_port\_output Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT, PCIe-8364RS # Descriptions： This function is use to set field bus digital output by port For PCIe-833x, this API only support ADLINK’s slave or module like below table.
VendorSlave seriesModule
ADLINKEU seriesEU-2008, EU-2108, EU-2016, EU-2116
ADLINKEPS seriesEPS-2032, EPS-2132, EPS-2308
ADLINKECAT-4XMO, ECAT-TRG4,ECAT-4XMO-MT, ECAT-TRG4-MTN/A
If user needs to control other vendor slave via this API, please refer to PCIe-833x IO mapping and create configuration file. After calling APS\_load\_config\_from\_file API with configuration file created by IO mapping, user can operate this API. # Syntax： C/C++： I32 FNTYPE APS\_set\_field\_bus\_d\_port\_output( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 Port\_No, U32 DO\_Value ); Visual Basic： APS\_set\_field\_bus\_d\_port\_output (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal Port\_No As Long, ByVal DO\_Value As UInteger) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0) I32 MOD\_No： The index of slave device. (start from 0) I32 Port\_No： The index of digital output port. (start from 0) U32 DO\_Value： Set the value of digital output. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： See also： # APS\_get\_field\_bus\_d\_port\_input Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT, PCIe-8364RS # Descriptions： This function is use to get field bus digital output by port. For PCIe-833x, this API only support ADLINK’s slave or module like below table.
VendorSlave seriesModule
ADLINKEU seriesEU-1008, EU-1108, EU-1016, EU-1116
ADLINKEPS seriesEPS-1132, EPS-1032
ADLINKECAT-4XMO, ECAT-TRG4,ECAT-4XMO-MT, ECAT-TRG4-MTN/A
If user needs to control other vendor slave via this API, please refer to PCIe-833x IO mapping and create configuration file. After calling APS\_load\_config\_from\_file API with configuration file created by IO mapping, user can operate this API. # Syntax： C/C++： I32 FNTYPE APS\_get\_field\_bus\_d\_port\_input( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 Port\_No, U32 \*DI\_Value ); Visual Basic： APS\_get\_field\_bus\_d\_port\_input(ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal Port\_No As Long, ByRef DI\_Value As UInteger) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0) I32 MOD\_No： The index of slave device. (start from 0) I32 Port\_No： The index of digital output port. (start from 0) U32 \*DI\_Value： Return the value of digital input. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： See also： # APS\_get\_field\_bus\_d\_port\_output Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT, PCIe-8364RS # Descriptions： This function is use to get field bus digital output by port. For PCIe-833x, this API only support ADLINK’s slave or module like below table.
VendorSlave seriesModule
ADLINKEU seriesEU-2008, EU-2108, EU-2016, EU-2116
ADLINKEPS seriesEPS-2032, EPS-2132, EPS-2308
ADLINKECAT-4XMO, ECAT-TRG4,ECAT-4XMO-MT, ECAT-TRG4-MTN/A
If user needs to control other vendor slave via this API, please refer to PCIe-833x IO mapping and create configuration file. After calling APS\_load\_config\_from\_file API with configuration file created by IO mapping, user can operate this API. # Syntax： C/C++： I32 FNTYPE APS\_get\_field\_bus\_d\_port\_output( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 Port\_No, U32 \*DO\_Value ); Visual Basic： APS\_get\_field\_bus\_d\_port\_output (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal Port\_No As Long, ByRef DO\_Value As UInteger) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0) I32 MOD\_No： The index of slave device. (start from 0) I32 Port\_No： The index of digital output port. (start from 0) U32 \*DO\_Value： Return the value of digital output. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： See also： # APS\_write\_d\_output Support Products： PCI-8253/56, DPAC-1000, DPAC-3000, PCI-8144, PCI(e)-8154/8158, PCI-8102/PCI-C154(+), EMX-100, PCI-8254/58 / AMP-204/8C , PCIe-833x, AMP-104C, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT, AMP-304C, PCIe-8364RS # Descriptions： This function is use to access on board general purpose digital output. If the channels are more than 32, users must assign a group number to access more I/O. The PCI-8256 has 8 (PCI-8253 has 4, DPAC-1000, DPAC-3000 has 4, PCI(e)-8154 has 4, PCI(e)-8158 has 8, PCI-8102 has 2,PCI-C154(+) has 4 multi-function DO) output channels, user can assign group number to be constant 0. The PCI-8102 has 16 (PCIe-8154/8158, PCI-C154(+) has 16 channel extension DO)output channels, user can assign group number to be constant 1. The PCI-8254/58 / AMP-204/8C has 24 output channels, user can assign group number to be constant 0. DO channel definition bit map1：
Products: PCI-8254/58 / AMP-204/8C
1514131211109876543210
TTL7TTL6TTL5TTL4TTL3TTL2TTL1TTL0DO7DO6DO5DO4DO3DO2DO1DO0
31302928272625242322212019181716
TTL15TTL14TTL13TTL12TTL11TTL10TTL9TTL8
The AMP-104C has 12 channel with isolated DO, user assign group number to be constant 0. Furthermore the AMP-104C has 15 channel with TTL DO, user assign group number to be constant 1. The AMP-304C has 16 channel with isolated DO and 16 channel with TTL DO, user assign group number to be constant 0. DO channel definition bit map2：
Products : AMP-304C
1514131211109876543210
DO15DO14DO13DO12DO11DO10DO9DO8DO7DO6DO5DO4DO3DO2DO1DO0
31302928272625242322212019181716
TTL15TTL14TTL13TTL12TTL11TTL10TTL9TTL8TTL7TTL6TTL5TTL4TTL3TTL2TTL1TTL0
# Syntax： C/C++： I32 FNTYPE APS\_write\_d\_output(I32 Board\_ID, I32 DO\_Group, I32 DO\_Data); Visual Basic： APS\_write\_d\_output (ByVal Board\_ID As Long, ByVal DO\_Grout As Long, ByVal DO\_Data as Long) As Long; # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 DO\_Group： The digit output group number. (only support group index 0 ) I32 DO\_Data： The digit output data (Data type is bit type). For EMX-100： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 DO\_Group： The digit output group number. (group index 0 \~ index1 ) I32 DO\_Data： The digit output data (group 0 data length is 8 bit, group 1 data length is 6 bit) # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 DO\_Group = 0; // If DO channel less than 32 I32 DO\_Data = 0x000F; // Assign bit 0,1,2,3 output. I32 returnCode; // Function return code returnCode = APS\_write\_d\_output( Board\_ID, DO\_Group, DO\_Data ); if( returnCode != 0 ) return MessageBox( “Set digit output function failed” ); # See also： APS\_read\_d\_input() # APS\_read\_d\_output Support Products： PCI-8253/56, DPAC-1000, DPAC-3000, PCI-8144, PCI(e)-8154/8158, PCI-8102/PCI-C154(+), EMX-100, PCI-8254/58 / AMP-204/8C, PCIe-833x, AMP-104C, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT, AMP-304C, PCIe-8364RS # Descriptions： This function is use to get on board general purpose digital output. If the channels are more than 32, users must assign a group number to access more I/O. The PCI-8256 has 8 (PCI-8253 has 4, DPAC-1000, DPAC-3000 has 4, PCI(e)-8154 has 4, PCI(e)-8158 has 8, PCI-8102 has 2, PCI-C154(+) has 4 multi-function DO) output channels, user can assign group number to be constant 0. The PCI-8102 has 16 (PCIe-8154/8158, PCI-C154(+) has 16 channel extension DO) output channels, user can assign group number to be constant 1. The PCI-8254/58 / AMP-204/8C has 24 output channels, user can assign group number to be constant 0. Please refer to APS\_write\_d\_output to find DO channel definition bit map1. The AMP-104C has 12 channel with isolated DO, user can assign group number to be constant 0. Furthermore the AMP-104C has 15 channel with TTL DO, user can assign group number to be constant 1. The AMP-304C has 16 channel with isolated DO and 16 channel with TTL DO, user assign group number to be constant 0. Please refer to APS\_write\_d\_output to find DO channel definition bit map2. # Syntax： C/C++： I32 FNTYPE APS\_read\_d\_output(I32 Board\_ID, I32 DO\_Group, I32 \*DO\_Data); Visual Basic： APS\_read\_d\_output (ByVal Board\_ID As Long, ByVal DO\_Grout As Long, DO\_Data as Long) As Long; # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 DO\_Group： The digit output group number. (only support group index 0) I32 \*DO\_Data： The digit output data (Data type is bit type). For EMX-100： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 DO\_Group： The digit output group number. (group index 0 \~ index1) I32 \*DO\_Data： The digit output data (group 0 data length is 8 bit, group 1 data length is 6 bit). # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： See also： APS\_write\_d\_output() # APS\_read\_d\_input Support Products： PCI-8253/56, DPAC-1000, DPAC-3000, PCI-8144, PCI(e)-8154/8158, PCI-8102/PCI-C154(+),EMX-100 , PCI-8254/58 / AMP-204/8C, PCIe-833x, AMP-104C, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT, AMP-304C, PCIe-8364RS # Descriptions： This function is use to get on board general purpose digital input. If the channels are more than 32, users must assign a group number to access more I/O. The PCI-8256 has 8 (PCI-8253 has 4, DPAC-1000, DPAC-3000 has 4, PCI(e)-8154 has 4, PCI(e)-8158 has 8, PCI-8102 has 4 , PCI-C154(+) has 4 multi-function DO) input channels, user can assign group number to be constant 0. The PCI-8102 has 16 (PCIe-8154/8158, PCI-C154(+) has 16 channel extension DO) input channels, user can assign group number to be constant 1. The PCI-8254/58 / AMP-204/8C has 24 input channels, user can assign group number to be constant 0. DI channel definition bit map1：
1514131211109876543210
TTL7TTL6TTL5TTL4TTL3TTL2TTL1TTL0DI7DI6DI5DI4DI3DI2DI1DI0
31302928272625242322212019181716
TTL15TTL14TTL13TTL12TTL11TTL10TTL9TTL8
The AMP-104C has 16 channel with isolated DI, user can assign group number to be constant 0. Furthermore the AMP-104C has 16 channel with TTL DI, user can assign group number to be constant 1. The AMP-304C has 16 channel with isolated DI and 16 channel with TTL DI, user assign group number to be constant 0. DI channel definition bit map2：
1514131211109876543210
DI15DI14DI13DI12DI11DI10DI9DI8DI7DI6DI5DI4DI3DI2DI1DI0
31302928272625242322212019181716
TTL15TTL14TTL13TTL12TTL11TTL10TTL9TTL8TTL7TTL6TTL5TTL4TTL3TTL2TTL1TTL0
# Syntax： $$ C / C + +: $$ I32 FNTYPE APS\_read\_d\_input(I32 Board\_ID, I32 DI\_Group, I32 \*DI\_Data); Visual Basic： APS\_read\_d\_input (ByVal Board\_ID As Long, ByVal DI\_Grout As Long, DI\_Data as Long) As Long; # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 DI\_Group： The digit input group number. (Only support group index 0) I32 \*DI\_Data： The returned digit input data For EMX-100： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 DI\_Group： The digit input group number. (group index 0 \~ index3) I32 \*DI\_Data： The returned digit input data (every group Data length is 8 bit) # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Below example is for PCI-8254/58 / AMP-204/8C I32 DI\_Group = 0; // If DI channel less than 32 I32 DI\_Data = 0; // Di data I32 returnCode; // Function return code returnCode = APS\_read\_d\_ input( Board\_ID, DI\_Group, &DI\_Data ); if( returnCode != 0 ) MessageBox( “Get digit input function failed” ); # See also： APS\_write\_d\_output() # APS\_write\_d\_channel\_output Support Products： PCIe-8154/8158, PCI-C154(+), EMX-100, PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT, AMP-304C, PCIe-8364RS # Descriptions： This function is use to access on board general purpose digital output by channel. The PCIe-8154/8158, PCI-C154(+) has 16 channel extension DO output channels, user can assign group number to be constant 1. The PCI-8254/58 / AMP-204/8C has 24 output channels in the group number 0. Please refer to APS\_write\_d\_output to find DO channel definition bit map1. The AMP-304C has 16 channel with isolated DO and 16 channel with TTL DO, user assign group number to be constant 0. Please refer to APS\_write\_d\_output to find DO channel definition bit map2. # Syntax： C/C++： I32 FNTYPE APS\_write\_d\_channel\_output(I32 Board\_ID, I32 DO\_Group, I32 Ch\_No, I32 DO\_Data); Visual Basic： APS\_write\_d\_channel\_output (ByVal Board\_ID As Long, ByVal DO\_Group As Long, ByVal Ch\_No As Long, ByVal DO\_Data as Long) As Long; # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 DO\_Group： The digit output group number. I32 Ch\_No： The digit output channel. I32 DO\_Data： The digit output data (Data type is bit type). For EMX-100： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 DO\_Group： The digit output group number. (only support group index 0) I32 Ch\_No： The digit output channel (range is 0\~13) I32 DO\_Data： The digit output data by channel (0\~1). For PCI-8254/58 / AMP-204/8C： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 DO\_Group： The digit output group number. Set to 0 on PCI-8254/8. I32 Ch\_No： The digit output channel(0\~23) I32 DO\_Data： The digit output data by channel (0\~1). # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example1： Below example is for PCI(e)-8154/58 I32 DO\_Group = 1; // If DO channel less than 32 I32 DO\_Data =1; I32 returnCode; // Function return code I32 Ch\_No = 0; // Assign bit 0 output. returnCode = APS\_write\_d\_output( Board\_ID, DO\_Group, Ch\_No, DO\_Data ); if( returnCode != 0 ) return MessageBox( “Set digit output function failed” ); # Example2： Below example is for PCI-8254/58 / AMP-204/8C I32 returnCode; // Function return code //Turn on Do output channel 3 in group number 0 returnCode = APS\_write\_d\_channel\_output( Board\_ID, 0, 3, 1 ); if( returnCode != 0 ) MessageBox( “Set digit channel output function failed” ); # See also： APS\_read\_d\_channel\_input() # APS\_read\_d\_channel\_output Support Products： PCIe-8154/8158, PCI-C154(+), EMX-100, PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT, AMP-304C, PCIe-8364RS # Descriptions： This function is used to access on board general purpose digital output by channel. If those channels are more than 32, users must assign a group number to access more I/O. The PCIe-8154/8158, PCI-C154(+) has 16 channel extension DO output channels, user can assign group number to be constant 1. The PCI-8254/58 / AMP-204/8C has 24 output channels in the group number 0. Please refer to APS\_write\_d\_output to find DO channel definition bit map1. The AMP-304C has 16 channel with isolated DO and 16 channel with TTL DO, user assign group number to be constant 0. Please refer to APS\_write\_d\_output to find DO channel definition bit map2. # Syntax： C/C++： I32 FNTYPE APS\_read\_d\_channel\_output(I32 Board\_ID, I32 DO\_Group, I32 Ch\_No, I32 \*DO\_Data); Visual Basic： APS\_read\_d\_channel\_output (ByVal Board\_ID As Long, ByVal DO\_Grout As Long, ByVal Ch\_No As Long, DO\_Data As Long) As Long; # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 DO\_Group： The digit output group number. (only support group index 0) I32 Ch\_No： The digit output channel. I32 \*DO\_Data： The digit output data (Data type is bit type). For EMX-100： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 DO\_Group： The digit output group number. (only support group index 0) I32 Ch\_No： The digit output channel (range is 0\~13) I32 \*DO\_Data： The digit output data (0,1) For PCI-8254/58 / AMP-204/8C： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 DO\_Group： The digit output group number. Set to 0 on PCI-8254/8. I32 Ch\_No： The digit output channel(0\~23) I32 \*DO\_Data： The digit output data # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Below example is for PCI-8254/58 / AMP-204/8C I32 DO\_Data = 0; // Do data I32 returnCode; // Function return code //Get status of Do output channel 3 in group number 0 returnCode = APS\_read\_d\_channel\_output( Board\_ID, 0, 3, &DO\_Data ); if( returnCode != 0 ) MessageBox( “Get digit channel output function failed” ); # See also： APS\_write\_d\_channel\_output() # APS\_read\_d\_channel\_input Support Products： PCIe-8154/8158, PCI-C154(+),EMX-100 , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT, AMP-304C, PCIe-8364RS # Descriptions： This function is used to access on board general purpose digital input by channel. The PCIe-8154/8158, PCI-C154(+) has 16 channel extension DI input channels, user can assign group number to be constant 1. Please refer to APS\_read\_d\_input to find DI channel definition bit map1. The AMP-304C has 16 channel with isolated DI and 16 channel with TTL DI, user assign group number to be constant 0. Please refer to APS\_read\_d\_input to find DI channel definition bit map2. # Syntax： C/C++： I32 FNTYPE APS\_read\_d\_channel\_input(I32 Board\_ID, I32 DI\_Group, I32 Ch\_No, I32 \*DI\_Data); Visual Basic： APS\_read\_d\_channel\_input (ByVal Board\_ID As Long, ByVal DI\_Grout As Long, ByVal Ch\_No As Long, DI\_Data as Long) As Long; # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 DI\_Group： The digit input group number. (only support group index 0) I32 Ch\_No： The digit input channel. I32 \*DI\_Data： The returned digit input data For EMX-100： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 DI\_Group： The digit output group number. (only support group index 0) I32 Ch\_No： The digit output channel (range is 0\~31) I32 \*DI\_Data： The digit output data (0,1) # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： # See also： APS\_write\_d\_channel\_output() # APS\_read\_a\_input\_value Support Products： PCI-8253/56 , PCI-8254/58 / AMP-204/8C # Descriptions： There are two kinds of function for analog input. One is converted data. It could be voltage or current value. The other is raw data. It is relative to bit resolution of hardware design. This function is used to get on board general purpose analog input value of one axis, and the analog input value unit is volt. The conversion is one inside APS library according to hardware specifications and settings. Notice： AMP series don’t support this function. # Syntax： C/C++： I32 FNTYPE APS\_read\_a\_input\_value(I32 Board\_ID, I32 Channel\_No, F64 \*Convert\_Data); Visual Basic： APS\_read\_a\_input\_value (ByVal Board\_ID As Long, ByVal Channel\_No As Long, Convert\_Data as Double) As Long; # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Channel\_No： The channel number. Range is from 0 to 65535. F64 \*Convert\_Data： The returned converted analog data. Unit is volt and range is -10V to 10V. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Below example is for PCI-8254/58 / AMP-204/8C I32 Board\_ID = 0; I32 Channel\_No = 0; F64 Convert\_Data = 0.0; I32 returnCode; // Function return code returnCode = APS\_read\_a\_input\_value( Board\_ID, Channel\_No, & Convert\_Data ); if( returnCode != 0 ) MessageBox( “Get analog input function failed” ); # See also： APS\_read\_a\_input\_data() # APS\_read\_a\_input\_data Support Products： PCI-8253/56 # Descriptions： There are two kinds of function for analog input. One is converted data. It could be voltage or current value. The other is raw data. It is relative to bit resolution of hardware design. This function is used to get on board general purpose analog input raw data of one axis. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_read\_a\_input\_data(I32 Board\_ID, I32 Channel\_No, I32 \*Raw\_Data); Visual Basic： APS\_read\_a\_input\_data (ByVal Board\_ID As Long, ByVal Channel\_No As Long, Raw\_Data as Long) As Long; # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Channel\_No： The channel number. Range is from 0 to 65535. I32 \*Raw\_Data： The returned raw data of analog channel. Raw data definition： \*Raw\_Data = -32768 => its mean -10V \*Raw\_Data = 0 => its mean 0V \*Raw\_Data = 32767 => its mean 10V # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： See also： APS\_read\_a\_input\_value() # APS\_write\_a\_output\_value Support Products： PCI-8253/56, PCI-8254/58 / AMP-204/8C # Descriptions： There are two kinds of function for analog output. One is converted data. It could be voltage or current value. The other is raw data. It is relative to bit resolution of hardware design. This function is used to access on board general purpose analog output raw data of one axis and the analog output value unit is volt. Please make sure axis servo on signal is turn off relative to channel number before use analog output function. Notice： AMP series don’t support this function. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_write\_a\_output\_value(I32 Board\_ID, I32 Channel\_No, F64 Convert\_Data); Visual Basic： APS\_write\_a\_output\_value (ByVal Board\_ID As Long, ByVal Channel\_No As Long, ByVal Convert\_Data as Double) As Long; # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Channel\_No： The channel number. Range is from 0 to 65535. F64 Convert\_Data： The converted analog data to be output. Unit is volt and range is -10V to 10V # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example1： Below example is for PCI-8253/56 I32 Channel\_No = 1; // Assign channel 1 to be output channel F32 Convert\_Data; I32 returnCode; // Function return code While( 1 ) // From -10 …… +10 step 0.1 Convert\_Data = -10.0; do ```c { APS_write_a_output_value( Board_ID, Channel_No, Convert_Data ); Sleep(10); Convert_Data += 0.1; } while ( Convert_Data < 10.0 ) } ``` Example2： ```txt Below example is for PCI-8254/58 / AMP-204/8C I32 Channel_No = 1; // Assign channel 1 to be output channel F32 Convert_Data = 5.2; // Output 5.2 volt I32 returnCode; // Function return code returnCode = APS_write_a_output_value( Board_ID, Channel_No, Convert_Data ); if( returnCode != 0 ) MessageBox( "Write analog output function failed" ); ``` See also： ```cmake APS_write_a_output_data() ``` # APS\_write\_a\_output\_data Support Products： PCI-8253/56 # Descriptions： There are two kinds of function for analog output. One is converted data. It could be voltage or current value. The other is raw data. It is relative to bit resolution of hardware design. This function is used to access on board general purpose analog output raw data of one axis. Please make sure axis servo on signal is turn off relative to channel number before use analog output function. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_write\_a\_output\_data(I32 Board\_ID, I32 Channel\_No, I32 Raw\_Data); Visual Basic： APS\_write\_a\_output\_data (ByVal Board\_ID As Long, ByVal Channel\_No As Long, ByVal Raw\_Data as Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Channel\_No： The channel number. Range is from 0 to 65535. I32 Raw\_Data： The raw analog data to be output. Raw data definition as below Raw\_Data = -32768 => its mean -10V Raw\_Data = 0 => its mean 0V Raw\_Data = 32767 => its mean 10V # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Channel\_No = 2; // Assign channel 1 to be output channel I32 Raw\_Data; I32 returnCode; // Function return code While( 1 ) { // From -10 …… +10 step 1 bit Raw\_Data = -32768; ```c do { APS_write_a_output_Raw_Data( Board_ID, Channel_No, Raw_Data ); Sleep(10); Raw_Data += 1; } while(Raw_Data < 0x7FFF) } See also : APS_write_a_output_value() ``` # 14.Point table motion # APS\_set\_point\_table Support Products： PCI-8253/56, PCI-8392(H) # Descriptions： This function is used to set a set of point table parameters to specified axis. The point table defined in APS is not only a point table but also an instruction table. Users can link a move sequence by using this point table. The sequence can be used to different speed parameters and curve parameters. It can be assigned ending operation for next movement. The maximum point can be downloaded to on board memory once refers to product specifications. By setting repeat movement, users can make dynamic loading regardless point quatity limitations. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_point\_table( I32 Axis\_ID, I32 Index, POINT\_DATA \*Point ); Visual Basic： APS\_set\_point\_table( ByVal Axis\_ID As Long, ByVal Index As Long, Point As POINT\_DATA ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Index： Specified point index to be set. Range POINT\_DATA \*Point： Structure of point table parameters. Define in “type\_def.h” ```txt typedef struct { ``` I32 i32\_pos; //(Center)Position data (could be relative or absolute value) (pulse) I16 i16\_accType; //Acceleration pattern 0： T curve, 1：S curve I16 i16\_decType; // Deceleration pattern 0： T curve, 1：S curve I32 i32\_acc; //Acceleration rate ( pulse / sec2) I32 i32\_dec; //Deceleration rate ( pulse / sec2 ) I32 i32\_initSpeed; //Start velocity ( pulse / s ) I32 i32\_maxSpeed; //Maximum velocity ( pulse / s ) I32 i32\_endSpeed; //End velocity ( pulse / s ) I32 i32\_angle; //Arc move angle ( degree, -360 \~ 360 ) U32 u32\_dwell; //dwell times ( unit： ms ) \* Divided by system cycle time. I32 i32\_opt; //Point move option. (\*) } POINT\_DATA; (\*) Point move option： i32\_opt <table>7654321Bit : 0--Last pointFinish conditionTable_CtrlLinear/Arc-Absolute/Relative1514131211109Bit : 8Table_NoTable_NoTable_NoDo_ChDo_ChDo_ChDo_OnOffDo_En Bit 0： 1：Relative move, 0：Absolute move Bit 2： 1：Arc move, 0：Linear move Bit 3： 1： Enable VAO table switching control (when it is enabled, the setting table is effective of bit13 to bit 15), 0： Disable Bit 4： 1：INP ON(In position signal), 0：CSTP ON(command stop signal) Bit 5： 1： Last point index. 0： Not Last point index. (if this bit is turned on, point table move will stop after this point.) Bit 8： 1： Enable Do, 0： Disable Do Bit 9： 1： Set Do on(set to 1), 0： Set Do off(set to 0) Bit 10\~12： Select a Do channel (0 \~ 7) Bit 13\~15： Select a table number from 0 to 7. It is effective when bit 3 is enabled. When point table is running on this point, it will automatically switch to specified VAO table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “type\_def.h” #include “APS\_define.h” #include “APS168.h” #include “ErrorCodeDef.h” I32 ret; POINT\_DATA Point; Point.i32\_pos = 10000; //(Center)Position data (could be relative or absolute value) (pulse) Point.i16\_accType = 1; //Acceleration pattern 0： T curve, 1：S curve //Set point data to card memory. Ret = APS\_set\_point\_table(Axis\_ID, 0, &Point ); if( ret != ERR\_NoError ) ```swift { //Error (C) } ``` See also： ```cmake APS_get_point_table();APS_point_table_move();APS_get_next_point_index();APS_get_start_point_index();APS_get_end_point_index() ``` # APS\_get\_point\_table Support Products： PCI-8253/56, PCI-8392(H) # Descriptions： This function is used to get a set of point table parameters to specified axis. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_point\_table( I32 Axis\_ID, I32 Index, POINT\_DATA \*Point ); Visual Basic： APS\_get\_point\_table( ByVal Axis\_ID As Long, ByVal Index As Long, Point As POINT\_DATA ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Index： Specified point index to be set. Range POINT\_DATA \*Point： Structure of point table parameters. Define in “type\_def.h” ```txt typedef struct { ``` I32 i32\_pos; //(Center)Position data (could be relative or absolute value) (pulse) I16 i16\_accType; //Acceleration pattern 0： T curve, 1：S curve I16 i16\_decType; // Deceleration pattern 0： T curve, 1：S curve I32 i32\_acc; //Acceleration rate ( pulse / sec2) I32 i32\_dec; //Deceleration rate ( pulse / sec2 ) I32 i32\_initSpeed; //Start velocity ( pulse / s ) I32 i32\_maxSpeed; //Maximum velocity ( pulse / s ) I32 i32\_endSpeed; //End velocity ( pulse / s ) I32 i32\_angle; //Arc move angle ( degree, -360 \~ 360 ) U32 u32\_dwell; //dwell times ( unit： ms ) \* Divided by system cycle time. I32 i32\_opt; //Point move option. (\*) } POINT\_DATA; (\*) Point move option： i32 opt
7654321Bit : 0
--Last pointFinish condition-Linear/Arc-Absolute/Relative
1514131211109Bit : 8
Do_ChDo_ChDo_ChDo_OnOffDo_En
Bit 0： 1：Relative move, 0：Absolute move Bit 2： 1：Arc move, 0：Linear move Bit 4： 1：INP ON(In position signal), 0：CSTP ON(command stop signal) Bit 5： 1： Last point index. 0： Not Last point index. (if this bit is turned on, point table move will stop after this point.) Bit 8： 1： Enable Do, 0： Disable Do Bit 9： 1： Set Do on(set to 1), 0： Set Do off(set to 0) Bit 10\~12： Do channel( 0 \~ 7 ) # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “type\_def.h” #include “APS\_define.h” #include “APS168.h” #include “ErrorCodeDef.h” //... initial card. I32 ret ; POINT\_DATA Point; ret =APS\_get\_point\_table( Axis\_ID, 0, &Point ); if( ret != ERR\_NoError ) { //Error. } # See also： APS\_set\_point\_table();APS\_point\_table\_move();APS\_get\_next\_point\_index(); APS\_get\_start\_point\_index();APS\_get\_end\_point\_index() # APS\_set\_point\_table\_ex Support Products： PCI-8392(H) # Descriptions： This function is used to set a set of point table parameters with entend option to specified axis. The point table defined in APS is not only a point table but also an instruction table. Users can link a move sequence by using this point table. The sequence can be used to different speed parameters and curve parameters. It can be assigned ending operation for next movement. The maximum point can be downloaded to on board memory once refers to product specifications. By setting repeat movement, users can make dynamic loading regardless point quatity limitations. As depicts in APS\_set\_point\_table, linear ad arc move are support. Helical move is additionally support by APS\_set\_point\_table\_ex with the extend option. Multi-dimension move is support by setting entend option, which allows user change move dimension of move in a series of point moves. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_point\_table\_ex( I32 Axis\_ID, I32 Index, POINT\_DATA\_EX \*Point ); Visual Basic： APS\_set\_point\_table\_ex (ByVal Axis\_ID As Integer, ByVal Index As Integer, ByRef Point As POINT\_DATA\_EX) As Integer # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Index： Specified point index to be set. POINT\_DATA\_EX \*Point： Structure of point table parameters. Define in “type\_def.h” ```txt typedef struct { ``` I32 i32\_pos; //(Center)Position data (could be relative or absolute value) (pulse) I16 i16\_accType; //Acceleration pattern 0： T curve, 1：S curve I16 i16\_decType; // Deceleration pattern 0： T curve, 1：S curve I32 i32\_acc; //Acceleration rate ( pulse / sec 2 ) I32 i32\_dec; //Deceleration rate ( pulse / sec 2 ) I32 i32\_initSpeed; //Start velocity ( pulse / s ) I32 i32\_maxSpeed; //Maximum velocity ( pulse / s ) I32 i32\_endSpeed; //End velocity ( pulse / s ) I32 i32\_angle; //Arc move angle ( degree, -360 \~ 360 ) U32 u32\_dwell; //dwell times ( unit： ms ) \*Divided by system cycle time. I32 i32\_opt; //Point move option. (\*) I32 i32\_pitch; // pitch for helical move I32 i32\_totalheight; // total hight I16 i16\_cw; // cw or ccw I16 i16\_opt\_ext; // option extend (\*\*) } POINT\_DATA\_EX; (\*) Point move option： i32\_opt
7654321Bit : 0
--Last pointFinish condition-Linear/Arc-Absolute/Relative
1514131211109Bit : 8
--------
Bit 0： 1：Relative move, 0：Absolute move Bit 2： 1：Arc move, 0：Linear move Bit 3： 1： Enable VAO table switching control (when it is enabled, the setting table is effective of bit13 to bit 15), 0： Disable Bit 4： 1：INP ON(In position signal), 0：CSTP ON(command stop signal) Bit 5： 1： Last point index. 0： Not Last point index. (if this bit is turned on, point table move will stop after this point.) Bit 8\~15： Reserved. (\*\*) Point move option： i16 opt ext
7654321Bit : 0
uzyx---Helical
1514131211109Bit : 8
--------
Bit 0： 1： helical move, 0： linear or arc move If Bit 0 is 1, the motion type is helical move. If Bit 0 is 0, the motion type is defined by Bit 2 of i32 opt. Bit 4： 1： 1st axis move, 0： 1st axis not move Bit 5： 1： 2nd axis move, 0： 2nd axis not move Bit 6： 1： 3rd axis move, 0： 3rd axis not move Bit 7： 1： 4th axis move, 0： 4th axis not move # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```c #include "type_def.h" #include "APS_define.h" #include "APS168.h" #include "ErrorCodeDef.h" ``` ```c I32 ret; POINT_DATA_EX Point; ``` ```txt Point.i32_pos = 10000; //(Center)Position data (could be relative or absolute value) (pulse) Point.i16_accType = 1; //Acceleration pattern 0 : T curve, 1 : S curve ... //Set point data to card memory. Ret = APS_set_point_table_ex(Axis_ID, 0, &Point); if( ret != ERR_NoError ) { //Error (C) } ``` See also： ```cmake APS_set_point_table();APS_get_point_table();APS_get_point_table_ex();APS_point_table_move();APS_get_next_point_index();APS_get_start_point_index();APS_get_end_point_index() ``` # APS\_get\_point\_table\_ex Support Products： PCI-8392(H) # Descriptions： This function is used to get a set of point table parameters with entend option to specified axis. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_point\_table\_ex( I32 Axis\_ID, I32 Index, POINT\_DATA\_EX \*Point ); ```txt Visual Basic : ``` APS\_get\_point\_table\_ex (ByVal Axis\_ID As Integer, ByVal Index As Integer, ByRef Point As POINT\_DATA\_EX) As Integer # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Index： Specified point index to be set. POINT\_DATA\_EX \*Point： Structure of point table parameters. Define in “type\_def.h” ```txt typedef struct { ``` I32 i32\_pos; //(Center)Position data (could be relative or absolute value) (pulse) I16 i16\_accType; //Acceleration pattern 0： T curve, 1：S curve I16 i16\_decType; // Deceleration pattern 0： T curve, 1：S curve I32 i32\_acc; //Acceleration rate ( pulse / sec 2 ) I32 i32\_dec; //Deceleration rate ( pulse / sec 2 ) I32 i32\_initSpeed; //Start velocity ( pulse / s ) I32 i32\_maxSpeed; //Maximum velocity ( pulse / s ) I32 i32\_endSpeed; //End velocity ( pulse / s ) I32 i32\_angle; //Arc move angle ( degree, -360 \~ 360 ) U32 u32\_dwell; //dwell times ( unit： ms ) \*Divided by system cycle time. I32 i32\_opt; //Point move option. (\*) I32 i32\_pitch; // pitch for helical move I32 i32\_totalheight; // total hight I16 i16\_cw; // cw or ccw I16 i16\_opt\_ext; // option extend (\*\*) ```txt } POINT_DATA_EX; ``` (\*) Point move option： i32 opt
7654321Bit : 0
--Last pointFinish condition-Linear/Arc-Absolute/Relative
1514131211109Bit : 8
--------
Bit 0： 1：Relative move, 0：Absolute move Bit 2： 1：Arc move, 0：Linear move Bit 3： 1： Enable VAO table switching control (when it is enabled, the setting table is effective of bit13 to bit 15), 0： Disable Bit 4： 1：INP ON(In position signal), 0：CSTP ON(command stop signal) Bit 5： 1： Last point index. 0： Not Last point index. (if this bit is turned on, point table move will stop after this point.) Bit 8\~15： Reserved. (\*\*) Point move option： i16 opt ext
7654321Bit : 0
uzYx---Helical
1514131211109Bit : 8
--------
Bit 0： 1： helical move, 0： linear or arc move If Bit 0 is 1, the motion type is helical move. If Bit 0 is 0, the motion type is defined by Bit 2 of i32 opt. Bit 4： 1： 1st axis move, 0： 1st axis not move Bit 5： 1： 2nd axis move, 0： 2nd axis not move Bit 6： 1： 3rd axis move, 0： 3rd axis not move Bit 7： 1： 4th axis move, 0： 4th axis not move # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “type\_def.h” #include “APS\_define.h” ```c #include "APS168.h" #include "ErrorCodeDef.h" ``` ```txt //... initial card. I32 ret; POINT_DATA_EX Point; ret = APS_get_point_table_ex( Axis_ID, 0, &Point ); if( ret != ERR_NoError ) { //Error. } ``` # See also： APS\_set\_point\_table();APS\_get\_point\_table();APS\_set\_point\_table\_ex();APS\_point\_table\_move();APS\_get\_next\_poi nt\_index();APS\_get\_start\_point\_index();APS\_get\_end\_point\_index() # APS\_point\_table\_move Support Products： PCI-8253/56, PCI-8392(H) # Descriptions： This function is used to start a point table move. When point table move is started, the system will take the point parameters one by one from “StartIndex” to “EndIndex”. Therefore user must specified the point parameters to point table before perform point table move. When the axis is in point table moving, user cannot perform others move until point table move is finish. User could use stop\_move, emg\_stop, function to forced stop point table move.
Relative motion status description
PMVPoint table move state(Control axis) ON : in point table move state
PDWPoint table Dwell state(Control axis) ON : in point table dwell state
PPSPoint table pause state(Control axis) ON : in point table pause state
SLVSlave axis move state(Slave axis) ON : in slave axis move state
Reference axis： The first axis in axis array. User can specify it. Control axis： The minimum axis ID will be the control axis. Slave axis： Other axes except control axis. For example： Ex1. I32 AxisArray[4] = {3, 1, 2, 4 }; Control axis is ID= 1. Reference axis is ID = 3. Slave axes are ID = 2, 3, 4 Ex2. I32 AxisArray[3] = { 1, 2, 4 }; Control axis is ID= 1. Reference axis is ID = 1. Slave axes are ID = 2, 4 Syntax： ```csv C/C++ : I32 FNTYPE APS_point_table_move( I32 Dimension, I32 *Axis_ID_Array, I32 StartIndex, I32 EndIndex ); Visual Basic : APS_point_table_move( ByVal Dimension As Long, Axis_ID_Array As Long, ByVal StartIndex As Long, ByVal EndIndex As Long) As Long ``` Parameters： ```txt I32 Dimension : Dimension of axis array. (Linear move : 1 ~ 4), (Arc move : 2) I32 *Axis_ID_Array : Axis ID array. I32 StartIndex : The first running point index. I32 EndIndex : The end of point index . <Ex> StartIndex = 3, EndIndex = 5. The running sequence will be 3 -> 4 -> 5 ``` Return Values： ```txt I32 Error code : Please refer to APS Functions Return Code. ``` Example： ```c #include "type_def.h" #include "APS_define.h" #include "APS168.h" #include "ErrorCodeDef.h" ``` ```c I32 ret; POINT_DATA Point; I32 Axis_ID_Array; ``` ```c Point.i32_pos = 10000; //(Center)Position data (could be relative or absolute value) (pulse) Point.i16_accType = 1; //Acceleration pattern 0 : T curve, 1 : S curve ... //Set point data to card memory. Ret = APS_set_point_table(Axis_ID, 0, &Point); ... if( ret != ERR_NoError ) { //Error (C) ``` } // Start a point table move. Axis\_ID\_Array = Axis\_ID; ret = APS\_point\_table\_move( 1, &Axis\_ID\_Array, 0 , 3 ); # See also： APS\_set\_point\_table();APS\_get\_point\_table();APS\_point\_table\_move();APS\_get\_next\_point\_index();APS\_get\_start\_ point\_index();APS\_get\_end\_point\_index() # APS\_get\_running\_point\_index Support Products： PCI-8253/56, PCI-8392(H) # Descriptions： This function is used to get the running point index when the axis is performing a point table move. For example, if the system is running index 3, this function will return index = 3. If the operation is running at the last point, this function will return the “end point index”. Note： When system’s state is at beginning, the default value is -1. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_running\_point\_index( I32 Axis\_ID, I32 \*Index ); Visual Basic： APS\_get\_running\_point\_index( ByVal Axis\_ID As Long, Index As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \*Index： return running point index. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “type\_def.h” #include “APS\_define.h” #include “APS168.h” #include “ErrorCodeDef.h” //... initial card. //…start network I32 Index; I32 ret = APS\_get\_running\_point\_index ( Axis\_ID, &Index ); If( ret != ERR\_NoError ) { //Error (C) } # See also： APS\_set\_point\_table();APS\_get\_point\_table();APS\_point\_table\_move();APS\_get\_start\_point\_index();APS\_get\_end\_ point\_index() # APS\_get\_start\_point\_index Support Products： PCI-8253/56, PCI-8392(H) # Descriptions： This function is used to get the first point index when the axis is performing a point table move. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_start\_point\_index( I32 Axis\_ID, I32 \*Index ); Visual Basic： APS\_get\_start\_point\_index( ByVal Axis\_ID As Long, Index As Long ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \*Index： return the first running point index. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “type\_def.h” #include “APS\_define.h” #include “APS168.h” #include “ErrorCodeDef.h” //... initial card. //…start network I32 Index; I32 ret = APS\_get\_start\_point\_index ( Axis\_ID, &Index ); If( ret != ERR\_NoError ) { //Error (C) } # See also： APS\_set\_point\_table();APS\_get\_point\_table();APS\_point\_table\_move();APS\_get\_next\_point\_index();APS\_get\_end\_ point\_index() # APS\_get\_end\_point\_index Support Products： PCI-8253/56, PCI-8392(H) # Descriptions： This function is used to get the end of point index when the axis is performing a point table move. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_end\_point\_index( I32 Axis\_ID, I32 \*Index ); Visual Basic： APS\_get\_end\_point\_index( ByVal Axis\_ID As Long, Index As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \*Index： return the end of running point index. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “type\_def.h” #include “APS\_define.h” #include “APS168.h” #include “ErrorCodeDef.h” //... initial card. //…start network I32 Index; I32 ret = APS\_get\_end\_point\_index( Axis\_ID, &Index ); If( ret != ERR\_NoError ) { //Error (C)} # See also： APS\_set\_point\_table();APS\_get\_point\_table();APS\_point\_table\_move();APS\_get\_next\_point\_index();APS\_get\_start\_ point\_index() # APS\_set\_table\_move\_pause Support Products： PCI-8253/56, PCI-8392(H) # Descriptions： This function is used to pauses the point table move. When pause command is issued, it will not stop current point but stop at next point index starting position. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_table\_move\_pause( I32 Axis\_ID, I32 Pause\_en ); Visual Basic： APS\_set\_table\_move\_pause(ByVal Axis\_ID As Long, ByVal Pause\_en As Long ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Pause\_en： 1： Pause. 0： Not pause. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “type\_def.h” #include “APS\_define.h” #include “APS168.h” #include “ErrorCodeDef.h” //... initial card. //…start network I32 Index; I32 ret = APS\_set\_table\_move\_pause ( Axis\_ID, 1 ); //Pause point table move If( ret != ERR\_NoError ) { //Error (C) } # See also： # APS\_set\_table\_move\_ex\_pause Support Products： PCI-8253/56 # Descriptions： This function is used to pauses move when running point table. When pause command is issued, it will decelerate to stop and control I/O. Other parameters included deceleration rate and I/O setting, could be configured by APS\_set\_axis\_para(). Differences between APS\_set\_table\_move\_ex\_pause() and APS\_set\_table\_move\_pause()：
FunctiondescriptionsAPS_set_table_move_ex_pause()APS_set_table_move_pause()
Motion statusNSTP(CSTP, INP)PPS
DescriptionsDeceleration to stop & control I/OStop at next point index starting position.
RollbackAPS_set_table_move_ex_rollback()N/A
ResumeAPS_set_table_move_ex_resume()APS_set_table_move_pause()
I/O could be controlled, such as disabling laser, while poiont table is pausing or normally stopping. Turning on/off specified I/O is configured in axis parameter table via APS\_set\_axis\_para(). I/O setting in axis parameter table：
NO.DefineDescriptionValueDefault
32h(50)PRA_PT_STP_DO_ENEnable Do when point table stopping/pausing0 : Disable1 : Enable0
33h(51)PRA_PT_STP_DOSet Do value when Point table normally stopping/pausing0 : Set to 01 : Set to 10
Syntax： $$ C / C + +: $$ I32 FNTYPE APS\_set\_table\_move\_ex\_pause( I32 Axis\_ID ); Visual Basic： APS\_set\_table\_move\_ex\_pause(ByVal Axis\_ID As Long, ByVal Pause\_en As Long ) As Long Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```c #include "type_def.h" #include "APS_define.h" #include "APS168.h" #include "ErrorCodeDef.h" ``` ```c //... initial card. // Pre-Configure parameters // Enable Do when point table stopping/pausing I32 ret = APS_set_axis_para( Axis_ID, 0x32, 1 ); // Set Do value to 1 (such as turning on laser) when Point table normally stopping/pausing I32 ret = APS_set_axis_para( Axis_ID, 0x33, 1 ); ``` ```txt //... move point table I32 ret = APS_set_table_move_ex_pause(Axis_ID); //Stop point table move and control I/O. If(ret != ERR_NoError) { //Error(C) } ``` See also： APS\_set\_table\_move\_ex\_rollback();APS\_set\_table\_move\_ex\_resume();APS\_set\_axis\_para() # APS\_set\_table\_move\_ex\_rollback Support Products： PCI-8253/56 # Descriptions： This function is used to rollback motion when point table paused. This function is used to rollback to starting position of the current index. Other parameters included start velocity, acceleration rate and deceleration rate could be configured by APS\_set\_axis\_para(). Notice that this function will be used after APS\_set\_table\_move\_ex\_pause() was called. Otherwise, it is possible to move to unexpected position. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_table\_move\_ex\_rollback( I32 Axis\_ID, I32 Max\_Speed ); Visual Basic： APS\_set\_table\_move\_ex\_rollback( ByVal Axis\_ID As Long, ByVal Max\_Speed As Long ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Max\_Speed： Maximum linear/circular interpolation speed. Unit： pulse/sec. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “type\_def.h” #include “APS\_define.h” #include “APS168.h” #include “ErrorCodeDef.h” //... initial card. //… move point table, and pause it I32 ret = APS\_set\_table\_move\_ex\_rollback ( Axis\_ID, Max\_Speed ); // Rollback move. If( ret != ERR\_NoError ) { //Error (C) } See also： APS\_set\_table\_move\_ex\_pause();APS\_set\_table\_move\_ex\_resume() # APS\_set\_table\_move\_ex\_resume Support Products： PCI-8253/56 # Descriptions： This function is used to resume move from current index to end index when point table paused. When resume command is issued, it will re-start point table move. When passing through the pause position, it will keep I/O status. Notice that this function will be used after APS\_set\_table\_move\_ex\_rollback() was called. Otherwise, it is possible to move to unexpected position. Difference between APS\_set\_table\_move\_ex\_resume() and APS\_set\_table\_move\_pause()：
FunctiondescriptionsAPS_set_table_move_ex_resume()APS_set_table_move_pause() (when resuming move)
Motion statusPMV, SLVPMV, SLV
DescriptionsResume move from current index to end index.Resume move from next index to end index.
PauseAPS_set_table_move_ex_pause()APS_set_table_move_pause() (when pausing move)
# Syntax： C/C++： I32 FNTYPE APS\_set\_table\_move\_ex\_resume( I32 Axis\_ID ); Visual Basic： APS\_set\_table\_move\_ex\_resume(ByVal Axis\_ID As Long ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “type\_def.h” #include “APS\_define.h” #include “APS168.h” #include “ErrorCodeDef.h” //... initial card. //… move point table, //…Pause it, then rollback. I32 ret = APS\_set\_table\_move\_ex\_resume( Axis\_ID ); // Re-start point table move and keep I/O status. If( ret != ERR\_NoError ) { //Error (C) } # See also： APS\_set\_table\_move\_ex\_pause();APS\_set\_table\_move\_ex\_rollback() # APS\_set\_table\_move\_repeat Support Products： PCI-8253/56, PCI-8392(H) # Descriptions： This function is used to set point table move repeat. When repeat function is enabled, it will repeat the point move until repeat function is disabled or stop function is issued. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_table\_move\_repeat ( I32 Axis\_ID, I32 Repeat\_en ); Visual Basic： APS\_set\_table\_move\_repeat (ByVal Axis\_ID As Long, ByVal Repeat\_en As Long ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Repeat\_en： 1： Repeat. 0： Not repeat. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “type\_def.h” #include “APS\_define.h” #include “APS168.h” #include “ErrorCodeDef.h” //... initial card. //…start network I32 Index; I32 ret = APS\_set\_table\_move\_repeat ( Axis\_ID, 1 ); // Repeat point table move If( ret != ERR\_NoError ) { //Error (C) } # See also： # APS\_set\_point\_table\_mode2 Support Products： MNET-4XMO-C # Descriptions： This function is used to select a point table mode. There are two modes for point table： Single (Fast Index move) mode and Continuous (Path move) mode. Only one mode can be selected on a specified slave module at the same time. User should call this function to choose mode before using other point table functions. # For Single Mode – Fast Index Move (mode = 0)： It provides a fast way to start a move. Because MNET is using communication way to send/receive command and data, the access time depends on the network speed and the amount of data. It provides a fast way to let users to preset known data on SRAM. It can save much time on communication only by a point index command. # For Continuous Mode – Path Move (mode = 1)： It not only can make path locus running continuously without host PC’s control but also can make path speed continuously by auto calculating from our software. Users only need to give maximum speed and target position data and don’t need to take care of starting speed for intercommand speed’s continuity. This is so called auto speed profile feature. A dwell move can be a part of path move. Dwell move means a certain time of axis still. There is only one limitation for these piecewise point data： The distance for each segment must be long enough to support the time from current speed to be accelerated or decelerated to target maximum speed. Or it will return ERR\_DistantEnough. # Syntax： C/C++： I32 FNTYPE APS\_set\_point\_table\_mode2 ( I32 Axis\_ID, I32 Mode ); Visual Basic： APS\_set\_point\_table\_mode2 (ByVal Axis\_ID As Long , ByVal Mode As Long ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. For MENT-4XMO-C： Axis\_ID on the specified slave module. I32 Mode： Specified point table mode. (Default is 0) 0： Single Mode (Fast Index Move) 1： Continuous Mode (Path Move) # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “type\_def.h” #include “APS\_define.h” #include “APS168.h” #include “ErrorCodeDef.h” I32 ret; I32 Axis\_ID = 1000; ret = APS\_set\_point\_table\_mode2 (Axis\_ID, 1); //Set to continuous mode //... Set other point table functions # See also： # APS\_set\_point\_table2 Support Products： MNET-4XMO-C # Descriptions： This function is used to set a set of point table parameters. The point table defined in APS is not only a point table but also an instruction table. Users can implement a move according to this point table. The table content can be used to different speed parameters. For Single Mode – Fast Index Move (mode = 0)： When point table is running on single mode, the maximum number of points is 1024. It supports absolute and relative move for 1-axis motion. Notice that it only supports relative move for linear and arc muti-interpolation motion. It also supports dwell move. The point 0 to point N are not necessary in the same dimension and axis. For Continuous Mode – Path Move (mode = 1)： When point table is running on continuous mode, the maximum number of points is 1,048,560. The SRAM buffer can preset 2048 points for 1-axis path single motion. If users need interpolation, 1024 points for 2-axis or 682 points for 3-axis or 512 points for 4-axis are possible includes circular motion. The circular motion is only for 2-axis setting. Notice that point 0 to point N are necessary in the same dimension and axis. The starting speed, acceleration and deceleration rate are fixed from the beginning setting for whole path move. Please pre-set those value before path move. Note： When point table is running on continuous mode, be sure to set each Point from index 0 to N in order. Note： It will cause point table to re-initialize when setting Point to index 0, # Syntax： C/C++： I32 FNTYPE APS\_set\_point\_table2 ( I32 Dimension, I32 \*Axis\_ID\_Array, I32 Index, POINT\_DATA2 \*Point );Visual Basic： APS\_set\_point\_table2 (ByVal Dimension As Long , Axis\_ID\_Array As Long, ByVal Index As Long, Point As POINT\_DATA2 ) As Long # Parameters： I32 Dimension： Dimension of axis array. (Linear & Dwell move ：1 \~ 4), (Arc move： 2) I32 \*Axis\_ID\_Array： Axis ID array on specified slave module I32 Index： Specified point index to be set. POINT\_DATA2 \*Point： Structure of point table parameters. Define in “type\_def.h” typedef struct { ```c I32 i32_pos[16]; // (Center) Position data (could be relative or absolute value) (pulse) I32 i32_initSpeed; // Start velocity (Only available for single mode) ( pulse / s ) I32 i32_maxSpeed; // Maximum velocity ( pulse / s ) I32 i32_angle; // Arc move angle ( degree, -360 ~ 360 ) U32 u32_dwell; // dwell times ( unit : ms ) I32 i32_opt; // Point move option. (*) OINT_DATA2; ``` (\*) Point move option： i32\_opt
7654321Bit : 0
--Last pointFinish condition-Linear/Arc-Absolute/Relative
Bit 0： 1：Relative move, 0：Absolute move Bit 2： 1：Arc move, 0：Linear move Bit 4： 1：INP ON(In position signal), 0：CSTP ON(command stop signal) Bit 5： 1： Last point index. 0： Not Last point index. (if this bit is turned on, point table move will stop after this point.) It is only available for continuous mode. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “type\_def.h” #include “APS\_define.h” #include “APS168.h” #include “ErrorCodeDef.h” I32 ret; I32 Dimension = 2; // Interpolation for 2-axes. I32 Axis\_ID\_Array[2] = { 1000, 1001 }; POINT\_DATA2 Point; …pre-set starting speed, acceleration and deceleration rate.. Point.i32\_pos[0] = 10000; //(Center)Position data (could be relative or absolute value) (pulse) Point.i32\_pos[1] = 20000; //(Center)Position data (could be relative or absolute value) (pulse) Point.i32\_maxSpeed = 10000; //Maximum velocity ( pulse / s ) Point.i32\_opt = 0; // Absolute, Linear, CSTP ON, Not Last point index //Set point data to on-board SRAM. Ret = APS\_set\_point\_table2 (Dimension, Axis\_ID\_Array, 0, &Point ); //Index 0 //... set index in order. If( ret != ERR\_NoError ) { //Error (C) } See also： # APS\_point\_table\_continuous\_move2 Support Products： MNET-4XMO-C # Descriptions： User must set point table to continuous mode with APS\_set\_point\_table\_mode2() before using this function. This function is used to start a point table continuous move. When point table move is started, the system will take the point parameters one by one from “0” to “LastPoint”. Therefore user must specify the point parameters to point table before perform point table move. User could use stop\_move, emg\_stop, function to forced stop point table move. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_point\_table\_continuous\_move2( I32 Dimension, I32 \*Axis\_ID\_Array ); Visual Basic： APS\_point\_table\_continuous\_move2( ByVal Dimension As Long, Axis\_ID\_Array As Long) As Long # Parameters： I32 Dimension： Dimension of axis array. (Linear & Dwell move ：1 \~ 4), (Arc move： 2) I32 \*Axis\_ID\_Array： Axis ID array on specified slave module # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “type\_def.h” #include “APS\_define.h” #include “APS168.h” #include “ErrorCodeDef.h” I32 ret; I32 Dimension = 2; // Interpolation for 2-axes. I32 Axis\_ID\_Array[2] = { 1000, 1001 }; I32 Index = 0; POINT\_DATA2 Point; I32 PointTableStatus; …pre-set starting speed, acceleration and deceleration rate.. ```txt Point.i32_pos[0] = 10000; // (Center) Position data (could be relative or absolute value) (pulse) Point.i32_pos[1] = 20000; // (Center) Position data (could be relative or absolute value) (pulse) Point.i32_maxSpeed = 10000; // Maximum velocity ( pulse / s ) Point.i32_opt = 0; // Absolute, Linear, CSTP ON, Not Last point index ``` ```txt //Set point data to on-board SRAM. Ret = APS_set_point_table2 (Dimension, Axis_ID_Array, 0, &Point); //Index 0 Index++; //...Preset Point(index) in order. If( ret != ERR_NoError ) { //Error (C) } ``` ```c ret = APS_set_point_table_mode2 (Axis_ID, 1); //Set to continuous mode ``` ```c // Start a point table continuous move. Ret = APS_point_table_continuous_move2 (Dimension, Axis_ID_Array ); ... //Check point table status & Re-load Point(index) in order ret = APS_point_table_status2( Axis_ID_Array[0], &PointTableStatus ); if( PointTableStatus == 1 ) //SRAM is not full { // Reload Point ret = APS_set_point_table2 (Dimension, Axis_ID_Array, 0, &Point ); //Index 0 Index++; } else { //Cant Reload Point } ``` See also： # APS\_point\_table\_single\_move2 Support Products： MNET-4XMO-C # Descriptions： User must set point table to single mode with APS\_set\_point\_table\_mode2() before using this function. This function is used to start a point table single move. When point table move is started, the system will perform a single move according to specified index. Therefore user must specify the point parameters to point table before perform point table move. User could use stop\_move, emg\_stop, function to forced stop point table move. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_point\_table\_single\_move2 ( I32 Axis\_ID, I32 Index ); Visual Basic： APS\_point\_table\_single\_move2 ( ByVal Axis\_ID As Long, ByVal Index As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. For MENT-4XMO-C： Axis\_ID on the specified slave module. I32 Index： Specify point index to move. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “type\_def.h” #include “APS\_define.h” #include “APS168.h” #include “ErrorCodeDef.h” I32 ret; I32 Dimension = 2; // Interpolation for 2-axes. I32 Axis\_ID\_Array[2] = { 1000, 1001 }; POINT\_DATA2 Point; …pre-set acceleration and deceleration rate.. Point.i32\_pos[0] = 10000; //(Center)Position data (could be relative or absolute value) (pulse) Point.i32\_pos[1] = 20000; //(Center)Position data (could be relative or absolute value) (pulse) Point.i32\_initSpeed = 0; //Start velocity (Only available for single mode) ( pulse / s ) Point.i32\_maxSpeed = 10000; //Maximum velocity ( pulse / s ) Point.i32\_opt = 1; // Relative, Linear, CSTP ON, Not Last point index ret = APS\_set\_point\_table\_mode2 (Axis\_ID, 0); //Set to single mode //Set point data to on-board SRAM. Ret = APS\_set\_point\_table2 (Dimension, Axis\_ID\_Array, 0, &Point ); //Set index 0 if( ret != ERR\_NoError ) { //Error (C) } // Start a point table single move. Ret = APS\_point\_table\_single\_move2 (Axis\_ID\_Array[0], 0 ); //Move index 0 See also： # APS\_get\_running\_point\_index2 Support Products： MNET-4XMO-C # Descriptions： This function is used to get the running point index when performing a point table move. For example, if the system is running index 3, this function will return index = 3. If the operation is running at the last point, this function will return the “last point index”. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_running\_point\_index( I32 Axis\_ID, I32 \*Index ); Visual Basic： APS\_get\_running\_point\_index( ByVal Axis\_ID As Long, Index As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. For MENT-4XMO-C： Axis\_ID on the specified slave module. I32 \*Index： return running point index. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “type\_def.h” #include “APS\_define.h” #include “APS168.h” #include “ErrorCodeDef.h” //... initial card. //…start network I32 Index; I32 ret = APS\_get\_running\_point\_index2 ( Axis\_ID, &Index ); If( ret != ERR\_NoError ) { //Error (C)} See also： # APS\_point\_table\_status2 Support Products： MNET-4XMO-C # Descriptions： MNET-4XMO-C provides one dedicated on-board SRAM to store point data and makes continuous path move standalone possible. This function is used to get SRAM status when performing a point table continuous move. User can reload point table when SRAM is not full. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_point\_table\_status2( I32 Axis\_ID, I32 \*Status ); Visual Basic： APS\_point\_table\_status2( ByVal Axis\_ID As Long, Status As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. For MENT-4XMO-C： Axis\_ID on the specified slave module. I32 \*Status： get SRAM status for point table. 0： SRAM is full. 1： SRAM is not full. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “type\_def.h” #include “APS\_define.h” #include “APS168.h” #include “ErrorCodeDef.h” //... initial card. //…start network I32 Status; I32 ret = APS\_point\_table\_status2 ( Axis\_ID, &Status ); If( ret != ERR\_NoError ) { //Error (C)} See also： # APS\_set\_point\_table3 Support Products： HSL-4XMO # Descriptions： This function is used to set a set of point table parameters. The point table defined in APS is not only a point table but also an instruction table. Users can implement a move according to this point table. The table content can be used to different speed parameters. The point table can store totally 2000 points (from 0 to 1999). Users can use the structure variable POINT\_DATA3 provided by us to set data for each point. The POINT\_DATA3 structure variable includes five components： position, max speed, end position, direction, and command function. It has to be noticed that the number of axis and the axes in axis array on each point must be equal under one movement. Move types are decided by command function and it must meet the number of axis ateach point set by user. The starting speed, acceleration and deceleration rate are fixed from the beginning setting for whole path move. Please pre-set those value before path move via APS\_set\_point\_table\_param3 function.. Note： There are some notes in setting point table listed below： 1. Starting velocity must be smaller than max velocity. 2. The table has two points at least. 3. When previous point is arc move, the max velocity in next point must bigger the previous point. 4. Final point can‘t be a arc move. 5. The axis must be unique in axis array. 6. The axis in axis array must be in the same module. 7. The number of axis and axes number in axis array at each point must be equal under one movement. # Syntax： C/C++： I32 FNTYPE APS\_set\_point\_table3( I32 Dimension, I32 \*Axis\_ID\_Array, I32 Index, POINT\_DATA3 \*Point ); Visual Basic： APS\_set\_point\_table3 (ByVal Dimension As Long, Axis\_ID\_Array As Long, ByVal Index As Long, Point As POINT\_DATA2 ) As Long # Parameters： I32 Dimension： Dimension of axis array. (Line move：1 \~ 4), (Arc move： 2) I32 \*Axis\_ID\_Array： Axis ID array on specified slave module I32 Index： Specified point index to be set. POINT\_DATA3 \*Point： Structure of point table parameters. Define in “type\_def.h” typedef struct { I32 i32\_pos[4]; //(Center)Position data (could be relative or absolute value) (pulse) I32 i32\_maxSpeed; //Maximum velocity ( pulse / s ) I32 i32\_endPos[2] //For arc move I32 i32\_dir; //For arc move I32 i32\_opt; //Point move option. (\*) } POINT\_DATA3; (\*) Point move option： i32\_opt
ValueMove TypeValueMove TypeValueMove Type
0start_tr_move7start_sa_line214start_sr_line3
1start_ta_move-8start_tr_arc215start_sa_line3
2start_sr_move9start_ta_arc216start_sa_line3
3start_sa_move10start_sr_arc217start_ta_line4
4start_tr_line211start_sa_arc218start_sr_line4
5start_ta_line212start_tr_line319start_sa_line4
6start_sr_line213start_ta_line3
# Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “type\_def.h” #include “APS\_define.h” #include “APS168.h” #include “ErrorCodeDef.h” I32 ret; I32 Dimension = 2; // Interpolation for 2-axes. I32 Axis\_ID\_Array[2] = { 0, 1}; POINT\_DATA3 Point; …pre-set starting speed, acceleration and deceleration rate.. Point.i32\_pos[0] = 10000; //(Center)Position data (could be relative or absolute value) (pulse) Point.i32\_pos[1] = 20000; //(Center)Position data (could be relative or absolute value) (pulse) Point.i32\_maxSpeed = 10000; //Maximum velocity ( pulse / s ) Point.i32\_opt = 0; // Absolute, Linear, Not Last point index See also： APS\_point\_table\_move3(); APS\_set\_point\_table\_param3() # APS\_point\_table\_move3 Support Products： HSL-4XMO # Descriptions： This function is used to start a point table move. When point table move is started, the system will take the point parameters one by one from “StartIndex” to “EndIndex”. Therefore user must specify the point parameters to point table before perform point table move. When the axis is in point table moving, user cannot perform others move until point table move is finish. User could uses stop\_move, emg\_stop, function to forced stop point table move. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_point\_table\_move3 (I32 Dimension, I32 \*Axis\_ID\_Array, I32 StartIndex, I32 EndIndex) ```txt Visual Basic : ``` APS\_point\_table\_move3 ( ByVal Dimension As Long, Axis\_ID\_Array As Long, StartIndex As Long, EndIndex As Long) As Long # Parameters： I32 Dimension： Dimension of axis array. (Linear & Dwell move： 1 \~ 4), (Arc move： 2) I32 \*Axis\_ID\_Array： Axis ID array on specified slave module # Note： 1. The number of axis and axes number in axis array must be equal the axis array in the point. 2. The axis in axis array must be in the same module. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “type\_def.h” #include “APS\_define.h” #include “APS168.h” #include “ErrorCodeDef.h” I32 ret; I32 index; ```c I32 Dimension = 2; // Interpolation for 2-axes. I32 Axis_ID_Array[2] = {0, 1}; I32 StartIndex = 0; I32 EndIndex = 1; POINT_DATA3 Point; ``` …pre-set starting speed, acceleration and deceleration rate.. ```txt Point.i32_pos[0] = 10000; // (Center) Position data (could be relative or absolute value) (pulse) Point.i32_pos[1] = 20000; // (Center) Position data (could be relative or absolute value) (pulse) Point.i32_maxSpeed = 10000; // Maximum velocity ( pulse / s ) Point.i32_opt = 4; // start_tr_line2 Index = 0; ret = APS_set_point_table3 (Dimension, Axis_ID_Array, index, &Point ); // Index 0 ``` ```txt Point.i32_pos[0] = 20000; //(Center)Position data (could be relative or absolute value) (pulse) Point.i32_pos[1] = 10000; //(Center)Position data (could be relative or absolute value) (pulse) Point.i32_maxSpeed = 10000; //Maximum velocity ( pulse / s ) Point.i32_opt = 6; // start_sr_line2 Index = 1; ret = APS_set_point_table3 (Dimension, Axis_ID_Array, index, &Point ); //Index 1 ``` ```c ret = APS_point_table_move3(Dimension, Axis_ID_Array, 0, 1) ``` # See also： APS\_set\_point\_table3(); APS\_set\_point\_table\_param3() # APS\_set\_point\_table\_param3 Support Products： HSL-4XMO # Descriptions： This function is used to set the speed parameter for point table move including start velocity, acceleration, deceleration, scrve acceleration, and scrve deceleration. The numbers of each parameter are the same with axis parameter used by APS\_set\_axis\_param. Users can refer to axis parameter table to set the speed parameter. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_point\_table\_param3 (I32 FirstAxid, I32 ParaNum, I32 ParaDat ); Visual Basic： APS\_set\_point\_table\_param3 ( ByVal FirstAxid As Long, ParaNum As Long, ParaDat As Long ) As Long; # Parameters： I32 FirstAxid： The first axis in axis array set by APS\_set\_point\_table3 function. I32 ParaNum： The axis parameter please refer to axis table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “type\_def.h” #include “APS\_define.h” #include “APS168.h” #include “ErrorCodeDef.h” I32 ret; I32 index; I32 Dimension = 2; // Interpolation for 2-axes. I32 Axis\_ID\_Array[2] = { 0, 1}; I32 StartIndex = 0; I32 EndIndex = 1; POINT\_DATA3 Point; …pre-set starting speed, acceleration and deceleration rate.. Point.i32\_pos[0] = 10000; //(Center)Position data (could be relative or absolute value) (pulse) Point.i32\_pos[1] = 20000; //(Center)Position data (could be relative or absolute value) (pulse) Point.i32\_maxSpeed = 10000; //Maximum velocity ( pulse / s ) Point.i32\_opt = 4; // start\_tr\_line2 Index = 0; ret = APS\_set\_point\_table3 (Dimension, Axis\_ID\_Array, index, &Point ); //Index 0 Point.i32\_pos[0] = 20000; //(Center)Position data (could be relative or absolute value) (pulse) Point.i32\_pos[1] = 10000; //(Center)Position data (could be relative or absolute value) (pulse) Point.i32\_maxSpeed = 10000; //Maximum velocity ( pulse / s ) Point.i32\_opt = 6; // start\_sr\_line2 Index = 1; ret = APS\_set\_point\_table3 (Dimension, Axis\_ID\_Array, index, &Point ); //Index 1 ret = APS\_set\_point\_table\_param3 ( 0, PRA\_ACC, 50000 ); //Set acceleration for point table move ret = APS\_set\_point\_table\_param3 ( 0, PRA\_DEC, 50000 ); //Set deceleration for point table move ret = APS\_set\_point\_table\_param3 ( 0, PRA\_VS, 100 ); //Set start velocity for point table move. Ret = APS\_set\_point\_table\_param3 ( 0, PRA\_SACC, 5000 ); //Set scurve acceleration for point table move ret = APS\_set\_point\_table\_param3 ( 0, PRA\_SDEC, 50000); //Set scurve deceleration for point table ret = APS\_point\_table\_move3( Dimension, Axis\_ID\_Array, 0, 1 ) # See also： APS\_set\_point\_table3(); APS\_point\_table\_move3() # APS\_set\_feeder\_group Support Products： PCI-8253/56, PCI-8392(H) , PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to set axes into a feeder group. Before you used any other feeder function, you should assign some axes to a feeder group. When you no longer use the feeder, you should free the group by APS\_free\_feeder\_group() function Note： The current feeder only support two dimension axis ID group. # Syntax： C/C++： I32 FNTYPE APS\_set\_feeder\_group( I32 GroupId, I32 Dimension, I32 \*Axis\_ID\_Array ); Visual Basic： APS\_set\_feeder\_group(ByVal GroupId As Long, ByVal Dimension As Long, Axis\_ID\_Array As Long) As Long # Parameters： I32 GroupId： Group ID. Value range： 0\~1. I32 Dimension： The dimension of the axis ID array. Value range： 1\~4 I32 \*Axis\_ID\_Array： The Axis ID array from 0 to 65535. The array size must match the axis dimension. The axis-ID in Axis\_ID\_Array[0] represent as the control axis which must the minimum ID number in the array. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “APS168.h” #include “ErrorCodeDef.h” I32 ret; // Return code I32 groupId = 0; // Feeder group ID [0,1] I32 runIdx; // Which index of data is in operation I32 fedIdx; // How much data is loaded into feeder module. I32 msts; // Motion status I32 dim = 2; // Group dimension I32 ax[2] = { 0, 1,}; // Axes ID array PNT\_DATA\_2D\* pPnt = NULL; // Pointer of PNT\_DATA\_2D ret = APS\_set\_feeder\_group( groupId, dim, ax ); if( ret != ERR\_NoError ){ //Exception handling } ```c ret = APS_reset_feeder_buffer(groupId ); ``` ```c ret = APS_set_feeder_point_2D(groupId, pPnt, cnt, 1); //or APS_set_feeder_point_2D_F64() if( ret != ERR_NoError ) { //Exception handling } ``` ```txt // Start feeder and point table move ret = APS_start_feeder_move( groupId ); if( ret != ERR_NoError ) { //Exception handling } ``` ```c // Check whether the end of the point table move procedure { ret = APS_get_feeder_running_index(groupId, &runIdx); if( ret != ERR_NoError ) break; ret = APS_get_feeder_feed_index(groupId, &fedIdx); if( ret != ERR_NoError ) break; msts = APS_motion_status(ax [0]); // Check motion status. }while( runIdx != ( fedIdx -1 ) ); ``` ```c ret = APS_free_feeder_group(groupId); if( ret != ERR_NoError ) { //Exception handling } ``` # See also： I32 FNTYPE APS\_get\_feeder\_group( I32 GroupId, I32 \*Dimension, I32 \*Axis\_ID\_Array ); I32 FNTYPE APS\_free\_feeder\_group( I32 GroupId ); I32 FNTYPE APS\_reset\_feeder\_buffer( I32 GroupId ); I32 FNTYPE APS\_set\_feeder\_point\_2D ( I32 GroupId, POINT\_DATA\_2D\* PtArray, I32 Size, I32 LastFlag ); I32 FNTYPE APS\_start\_feeder\_move( I32 GroupId ); I32 FNTYPE APS\_get\_feeder\_running\_index( I32 GroupId, I32 \*Index ); I32 FNTYPE APS\_get\_feeder\_feed\_index( I32 GroutId, I32 \*Index ); # APS\_get\_feeder\_group Support Products： PCI-8253/56, PCI-8392(H) , PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to get the configuration of a specified feeder. The configuration include group dimension and which axis IDs in group. # Syntax： C/C++： I32 FNTYPE APS\_get\_feeder\_group( I32 GroupId, I32 \*Dimension, I32 \*Axis\_ID\_Array ); Visual Basic： APS\_get\_feeder\_group (ByVal GroupId As Long, Dimension As Long, Axis\_ID\_Array As Long) As Long # Parameters： I32 GroupId： Group ID. Value range： 0\~1. I32 \*Dimension： Return group axes dimension. Possible return value [0\~4]. I32 \*Axis\_ID\_Array： Return the Axis ID from 0 to 65535. Please give a array of constant size 4. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Refer to the example of APS\_set\_feeder\_group() # See also： I32 FNTYPE APS\_set\_feeder\_group( I32 GroupId, I32 Dimension, I32 \*Axis\_ID\_Array ); I32 FNTYPE APS\_free\_feeder\_group( I32 GroupId ); I32 FNTYPE APS\_reset\_feeder\_buffer( I32 GroupId ); I32 FNTYPE APS\_set\_feeder\_point\_2D( I32 GroupId, POINT\_DATA\_2D\* PtArray, I32 Size, I32 LastFlag ); I32 FNTYPE APS\_start\_feeder\_move( I32 GroupId ); I32 FNTYPE APS\_get\_feeder\_running\_index( I32 GroupId, I32 \*Index ); I32 FNTYPE APS\_get\_feeder\_feed\_index( I32 GroutId, I32 \*Index ); # APS\_free\_feeder\_group Support Products： PCI-8253/56, PCI-8392(H) , PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to free the axes from the feeder and free its resources. When you no long to use the feeder, you must use this function to release the resources or it will keep the resources until the process be terminated. # Syntax： C/C++： I32 FNTYPE APS\_free\_feeder\_group( I32 GroupId ); Visual Basic： APS\_free\_feeder\_group( ByVal GroupId As Long) As Long # Parameters： I32 GroupId： Group ID. Value range： 0\~1. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Refer to the example of APS set feeder group() # See also： I32 FNTYPE APS\_set\_feeder\_group( I32 GroupId, I32 Dimension, I32 \*Axis\_ID\_Array ); I32 FNTYPE APS\_get\_feeder\_group( I32 GroupId, I32 \*Dimension, I32 \*Axis\_ID\_Array ); I32 FNTYPE APS\_reset\_feeder\_buffer( I32 GroupId ); I32 FNTYPE APS\_set\_feeder\_point\_2D( I32 GroupId, POINT\_DATA\_2D\* PtArray, I32 Size, I32 LastFlag ); I32 FNTYPE APS\_start\_feeder\_move( I32 GroupId ); I32 FNTYPE APS\_get\_feeder\_running\_index( I32 GroupId, I32 \*Index ); I32 FNTYPE APS\_get\_feeder\_feed\_index( I32 GroutId, I32 \*Index ); # APS\_reset\_feeder\_buffer Support Products： PCI-8253/56, PCI-8392(H) , PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to reset the 2D point table data buffer of a feeder. Note： 1. When feeder is loading the data to controller, you cannot use this function to reset the feeder buffer. 2. When issue the APS set feeder point [n]D() and the LastFlag is set. Use this function to reset the buffer and clear LastFlag. # Syntax： C/C++： I32 FNTYPE APS\_reset\_feeder\_buffer( I32 GroupId ); Visual Basic： APS\_reset\_feeder\_buffer ( ByVal GroupId As Long) As Long # Parameters： I32 GroupId： Group ID. Value range： 0\~1. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Refer to the example of APS set feeder group() # See also： I32 FNTYPE APS\_set\_feeder\_group( I32 GroupId, I32 Dimension, I32 \*Axis\_ID\_Array ); I32 FNTYPE APS\_get\_feeder\_group( I32 GroupId, I32 \*Dimension, I32 \*Axis\_ID\_Array ); I32 FNTYPE APS\_free\_feeder\_group( I32 GroupId ); I32 FNTYPE APS\_set\_feeder\_point\_2D( I32 GroupId, POINT\_DATA\_2D\* PtArray, I32 Size, I32 LastFlag ); I32 FNTYPE APS\_start\_feeder\_move( I32 GroupId ); I32 FNTYPE APS\_get\_feeder\_running\_index( I32 GroupId, I32 \*Index ); I32 FNTYPE APS\_get\_feeder\_feed\_index( I32 GroutId, I32 \*Index ); # APS\_set\_feeder\_point\_2D Support Products： PCI-8253/56, PCI-8392(H) , PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to set two dimension trajectory data into the buffer of a feeder. The parameter“LastFlag”must be set when the last piece of trajectory data is set. After “LastFlag”is be set, the function “APS\_start\_feeder\_move()”can be execute. When “LastFlag”is set, the trajectory data cannot be set into buffer until APS reset feeder buffer() is called. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_feeder\_point\_2D( I32 GroupId, PNT\_DATA\_2D \* PtArray, I32 Size, I32 LastFlag );Visual Basic： APS\_set\_feeder\_point\_2D ( ByVal GroupId As Long, PtArray As PNT\_DATA\_2D, ByVal Size As Long, ByVal LastFlag As Long ) As Long # Parameters： I32 GroupId： Group ID. Value range： 0\~1. PNT\_DATA\_2D\* PtArray： Two dimension trajectory information array. I32 Size： PNT\_DATA\_2D array size. Value must large than 0. (Size > 0) I32 LastFlag： Last point data flag. To notice the feeder the point array is the last one for feeder. 0： Not the last one 1： Last one. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Refer to the example of APS set feeder group() # See also： I32 FNTYPE APS\_set\_feeder\_group( I32 GroupId, I32 Dimension, I32 \*Axis\_ID\_Array ); I32 FNTYPE APS\_get\_feeder\_group( I32 GroupId, I32 \*Dimension, I32 \*Axis\_ID\_Array ); I32 FNTYPE APS\_free\_feeder\_group( I32 GroupId ); I32 FNTYPE APS\_reset\_feeder\_buffer( I32 GroupId ); I32 FNTYPE APS\_start\_feeder\_move( I32 GroupId ); I32 FNTYPE APS\_get\_feeder\_running\_index( I32 GroupId, I32 \*Index ); I32 FNTYPE APS\_get\_feeder\_feed\_index( I32 GroutId, I32 \*Index ); # APS\_set\_feeder\_point\_2D\_ex Support Products： PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to set two dimension trajectory data into the buffer of a feeder. The parameter“LastFlag”must be set when the last piece of trajectory data is set. After “LastFlag”is be set, the function “APS\_start\_feeder\_move()”can be execute. When “LastFlag”is set, the trajectory data cannot be set into buffer until APS reset feeder buffer() is called. Caution： APS\_set\_feeder\_point\_2D\_ex() and APS\_set\_feeder\_point\_2D() functions cannot be used at the same time. APS\_set\_feeder\_point\_2D\_ex() is used by F64 type, and APS\_set\_feeder\_point\_2D() is used by I32 type. # Syntax： C/C++： I32 FNTYPE APS\_set\_feeder\_point\_2D\_ex( I32 GroupId, PNT\_DATA\_2D\_F64 \* PtArray, I32 Size, I32 LastFlag ); Visual Basic： APS\_set\_feeder\_point\_2D\_ex( ByVal GroupId As Long, PtArray As PNT\_DATA\_2D\_F64, ByVal Size As Long, ByVal LastFlag As Long ) As Long # Parameters： I32 GroupId： Group ID. Value range： 0\~1. PNT\_DATA\_2D\_F64\* PtArray： Two dimension trajectory information array. I32 Size： PNT\_DATA\_2D\_F64 array size. Value must large than 0. (Size > 0) I32 LastFlag： Last point data flag. To notice the feeder the point array is the last one for feeder. 0： Not the last one 1： Last one. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Refer to the example of APS\_set\_feeder\_group() # See also： I32 FNTYPE APS\_set\_feeder\_group( I32 GroupId, I32 Dimension, I32 \*Axis\_ID\_Array ); I32 FNTYPE APS\_get\_feeder\_group( I32 GroupId, I32 \*Dimension, I32 \*Axis\_ID\_Array ); I32 FNTYPE APS\_free\_feeder\_group( I32 GroupId ); I32 FNTYPE APS\_reset\_feeder\_buffer( I32 GroupId ); I32 FNTYPE APS\_start\_feeder\_move( I32 GroupId ); I32 FNTYPE APS\_get\_feeder\_running\_index( I32 GroupId, I32 \*Index ); I32 FNTYPE APS\_get\_feeder\_feed\_index( I32 GroutId, I32 \*Index ); # APS\_start\_feeder\_move Support Products： PCI-8253/56, PCI-8392(H) , PCI-8254/58 / AMP-204/8C # Descriptions： The following items will be executed when this function is issued. 1 Load points into controller (Point table). 2 Start point table move. This function will fail when the parameter “LastFlag”of function APS\_set\_feeder\_point\_[n]D() does not be set. # Syntax： C/C++： I32 FNTYPE APS\_start\_feeder\_move( I32 GroupId ); Visual Basic： APS\_start\_feeder\_move ( ByVal GroupId As Long ) As Long # Parameters： I32 GroupId： Group ID. Value range： 0\~1. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Refer to the example of APS\_set\_feeder\_group() # See also： I32 FNTYPE APS\_set\_feeder\_group( I32 GroupId, I32 Dimension, I32 \*Axis\_ID\_Array ); I32 FNTYPE APS\_get\_feeder\_group( I32 GroupId, I32 \*Dimension, I32 \*Axis\_ID\_Array ); I32 FNTYPE APS\_free\_feeder\_group( I32 GroupId ); I32 FNTYPE APS\_reset\_feeder\_buffer( I32 GroupId ); I32 FNTYPE APS\_set\_feeder\_point\_2D ( I32 GroupId, PNT\_DATA\_2D \* PtArray, I32 Size, I32 LastFlag ); I32 FNTYPE APS\_get\_feeder\_running\_index( I32 GroupId, I32 \*Index ); I32 FNTYPE APS\_get\_feeder\_feed\_index( I32 GroutId, I32 \*Index ); # APS\_get\_feeder\_status Support Products： PCI-8254/58 / AMP-204/8C # Descriptions： User could monitor status of a feeder, including feeder states and feeder error code. There are three states of a feeder as following： 0： Feeder\_Stop： Feeder is stopped. 1： Feeder\_Run： Feeder is running. 2： Feeder\_Pause： Feeder is paused by APS\_set\_feeder\_ex\_pause(). Error code refers to APS Functions Return Code. # Syntax： C/C++： I32 FNTYPE APS\_get\_feeder\_status( I32 GroupId, I32 \*State, I32 \*ErrCode ); Visual Basic： APS\_get\_feeder\_status( ByVal GroupId As Long, State As Long, ErrCode As Long ) As Long # Parameters： I32 GroupId： Group ID. Value range： 0\~1. I32 \*State： State of a feeder 0： Feeder\_Stop： Feeder is stopped. 1： Feeder\_Run： Feeder is running. 2： Feeder\_Pause： Feeder is paused. I32 \*ErrCode： runtime error code of a feeder. Refer to APS Functions Return Code. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 state = 0; I32 errorCode = 0; I32 ret = 0; //Get feeder status ret = APS\_get\_feeder\_status( 0, &state, &errorCode ); See also： APS\_start\_feeder\_move() # APS\_get\_feeder\_running\_index Support Products： PCI-8253/56, PCI-8392(H) , PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to observe which buffer index currently the controller being processed. The index of the buffer is the array index you feed to buffer. This function is similar with APS get running point index(), but the different is the order of the index. APS\_get\_running\_point\_index) return point table index which order by point table itself in operation ram; APS\_get\_feeder\_running\_index() return buffer index which order by feeder's bufer in host's ram. # Syntax： C/C++： I32 FNTYPE APS\_get\_feeder\_running\_index( I32 GroupId, I32 \*Index ); Visual Basic： APS\_get\_feeder\_running\_index ( ByVal GroupId As Long, Index As Long ) As Long # Parameters： I32 GroupId： Group ID. Value range： 0\~1. I32 \*Index： Return which point is in operation. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Refer to the example of APS\_set\_feeder\_group() # See also： I32 FNTYPE APS\_set\_feeder\_group( I32 GroupId, I32 Dimension, I32 \*Axis\_ID\_Array ); I32 FNTYPE APS\_get\_feeder\_group( I32 GroupId, I32 \*Dimension, I32 \*Axis\_ID\_Array ); I32 FNTYPE APS\_free\_feeder\_group( I32 GroupId ); I32 FNTYPE APS\_reset\_feeder\_buffer( I32 GroupId ); I32 FNTYPE APS\_set\_feeder\_point\_2D ( I32 GroupId, PNT\_DATA\_2D \* PtArray, I32 Size, I32 LastFlag ); I32 FNTYPE APS\_start\_feeder\_move( I32 GroupId ); I32 FNTYPE APS\_get\_feeder\_feed\_index( I32 GroutId, I32 \*Index ); # APS\_get\_feeder\_feed\_index Support Products： PCI-8253/56, PCI-8392(H) , PCI-8254/58 / AMP-204/8C # Descriptions： This function will return which the latest buffer index in feeder is loaded into controller. # Syntax： C/C++： I32 FNTYPE APS\_get\_feeder\_feed\_index( I32 GroutId, I32 \*Index ); Visual Basic： APS\_get\_feeder\_feed\_index ( ByVal GroupId As Long, Index As Long ) As Long # Parameters： I32 GroupId： Group ID. Value range： 0\~1. I32 \*Index： Return which buffer index is load into controller. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Refer to the example of APS set feeder group() # See also： I32 FNTYPE APS\_set\_feeder\_group( I32 GroupId, I32 Dimension, I32 \*Axis\_ID\_Array ); I32 FNTYPE APS\_get\_feeder\_group( I32 GroupId, I32 \*Dimension, I32 \*Axis\_ID\_Array ); I32 FNTYPE APS\_free\_feeder\_group( I32 GroupId ); I32 FNTYPE APS\_reset\_feeder\_buffer( I32 GroupId ); I32 FNTYPE APS\_set\_feeder\_point\_2D( I32 GroupId, PNT\_DATA\_2D \* PtArray, I32 Size, I32 LastFlag ); I32 FNTYPE APS\_start\_feeder\_move( I32 GroupId ); I32 FNTYPE APS\_get\_feeder\_running\_index( I32 GroupId, I32 \*Index ); # APS\_set\_feeder\_ex\_pause Support Products： PCI-8253/56 , PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to pauses move when running point table. When pause command is issued, it will decelerate to stop and turn off I/O. The feeder also will be paused at the same time. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_feeder\_ex\_pause( I32 GroupId ); Visual Basic： APS\_set\_feeder\_ex\_pause ( ByVal GroupId As Long ) As Long # Parameters： I32 GroupId： Group ID. Value range： 0\~1. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “APS168.h” #include “ErrorCodeDef.h” //When push pause button on user interface. I32 ret; I32 groupId = 0; ret = APS\_set\_feeder\_ex\_pause( groupId ); if( ret != ERR\_NoError ) {//Exception handling } // Check the motion status has stopped. # See also： I32 FNTYPE APS\_set\_feeder\_ex\_pause( I32 GroupId ); I32 FNTYPE APS\_set\_feeder\_ex\_rollback( I32 GroupId, I32 Max\_Speed ); I32 FNTYPE APS\_set\_feeder\_ex\_resume( I32 GroupId ); # APS\_set\_feeder\_ex\_rollback Support Products： PCI-8253/56 , PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to let the group of axes back to the last point position which is paused by APS\_set\_feeder\_ex\_pause(). This function can ONLY be called after APS set feeder ex pause(). The behavior is not defined when this function is be used in other situation. # Syntax： C/C++： I32 FNTYPE APS\_set\_feeder\_ex\_rollback( I32 GroupId, I32 Max\_Speed ); Visual Basic： APS\_set\_feeder\_ex\_rollback( ByVal GroupId As Long, ByVal Max\_Speed As Long ) As Long # Parameters： I32 GroupId： Group ID. Value range： 0\~1. I32 Max\_Speed： Maximum linear interpolation speed. Value > 0, Unit： pulse/sec. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “APS168.h” #include “ErrorCodeDef.h” //When push“Go back”button on user interface. I32 ret; I32 groupId = 0; I32 max\_speed = 5000; // Pulse/sec ret = APS\_set\_feeder\_ex\_rollback( groupId, max\_speed ); if( ret != ERR\_NoError ) {//Exception handling } // Check the motion status has done. # See also： I32 FNTYPE APS\_set\_feeder\_ex\_pause( I32 GroupId ); I32 FNTYPE APS\_set\_feeder\_ex\_resume( I32 GroupId ); # APS\_set\_feeder\_ex\_resume Support Products： PCI-8253/56 , PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to resume move from paused feeder running index. When passing through the pause position, it will keep I/O status. This function can ONLY be called after APS set table move ex rollback(). The behavior is not defined when this function is be used in other situation. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_feeder\_ex\_resume ( I32 GroupId ); Visual Basic： APS\_set\_feeder\_ex\_resume ( ByVal GroupId As Long ) As Long # Parameters： I32 GroupId： Group ID. Value range： 0\~1. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #include “APS168.h” #include “ErrorCodeDef.h” //When push“Resume”button on user interface. I32 ret; I32 groupId = 0; ret = APS\_set\_feeder\_ex\_resume ( groupId ); if( ret != ERR\_NoError ) {//Exception handling } // Check the motion status has started. # See also： I32 FNTYPE APS\_set\_feeder\_ex\_pause( I32 GroupId ); I32 FNTYPE APS\_set\_feeder\_ex\_rollback( I32 GroupId, I32 Max\_Speed ); # 15.Advanced Point table # APS\_pt\_enable Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to enable a point table. User could set related axes of board to specified point table. In a specified board, it is forbidden to set repeat axis to point table. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： C/C++： I32 FNTYPE APS\_pt\_enable( I32 Board\_ID, I32 PtbId, I32 Dimension, I32 \*AxisArr ); Visual Basic： APS\_pt\_enable (ByVal Board\_ID As Long, ByVal PtbId As Long, ByVal Dimension As Long, ByVal AxisArr() As Long) As Long # Parameters： For PCI-8254/58 / AMP-204/8C： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. I32 Dimension： I32 \*AxisArr： the axis array of a specified board is from 0 to N. For PCI-8254, it is from 0 to 3. For PCI-8258, it is from 0 to 7. For PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT ： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. I32 Dimension： The number of the axis’s dimension. I32 \*AxisArr： the axis array of a specified board is from 0 to (N-1). The N is actual total axis numbers in topology in a specified board when not using EtherCAT manual slave ID. In other words, axis array will be “axis id” array when using EtherCAT manual slave ID. E.g.
Mode in APS_initialSlave ID and axis numberAxisArr assign value
Auto card ID(Bit 0 = 0)AxisNo auto mode(Bit 1 = 0)Fieldbus Slave Axis No auto mode(Bit 2 = 0)Fieldbus Slave No auto mode(Bit 10 = 0)Mode = 0x0000Slave 0- Axis 0Slave 1- Axis 1AxisArr[0] = 0;AxisArr[1] = 1;
Manual card ID(Bit 0 = 1). Card ID = 15.AxisNo fixed mode(Bit 1 = 1)Fieldbus Slave Axis No auto mode(Bit 2 = 0)Fieldbus Slave No auto mode(Bit 10 = 0)Mode = 0x0003Slave 0- Axis 960(15 * 64 + 0)Slave 1- Axis 961(15 * 64 + 1)AxisArr[0] = 0;AxisArr[1] = 1;
Auto card ID(Bit 0 = 0).AxisNo auto mode(Bit 1 = 0)Fieldbus Slave Axis No auto mode(Bit 2 = 0)Fieldbus Slave No fixed mode(Bit 10 = 1)Mode = 0x0400Slave 1000- Axis 5555Slave 2000- Axis 5556*StartAxisID set to "5555"AxisArr[0] = 5555;AxisArr[1] = 5556;
Auto card ID(Bit 0 = 0).AxisNo auto mode(Bit 1 = 0)Fieldbus Slave Axis No fixed mode(Bit 2 = 1)Fieldbus Slave No fixed mode(Bit 10 = 1)Mode = 0x0404Slave 1000- Axis 1000Slave 2000- Axis 2000AxisArr[0] = 1000;AxisArr[1] = 2000;
Manual card ID(Bit 0 = 1). Card ID = 15.AxisNo auto mode(Bit 1 = 0)Fieldbus Slave Axis No fixed mode(Bit 2 = 1)Fieldbus Slave No fixed mode(Bit 10 = 1)Mode = 0x0405Slave 1000- Axis 1000Slave 2000- Axis 2000AxisArr[0] = 1000;AxisArr[1] = 2000;
# Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 I32 Dimension = 2; //2D Dimension I32 AxisArr[2] = { 0, 1 }; //Set Axis 0 & Axis 1 to point table 0 //Enable point table 0 to 2d dimension with aixs 0 and axis 1. ret = APS\_pt\_enable(Board\_ID , PtbId, Dimension, & AxisArr ); //Enable point table 0 See also： # APS\_pt\_disable Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to disable a point table. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_pt\_disable ( I32 Board\_ID, I32 PtbId ); Visual Basic： APS\_pt\_disable (ByVal Board\_ID As Long, ByVal PtbId As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 //Disable ret = APS\_pt\_disable(Board\_ID , PtbId ); //Disable point table 0 See also： # APS\_get\_pt\_info Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to get information of point table. User could get information of dimension and axis array. If point table is disabled, the return information of dimension is defined to 0. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_pt\_info( I32 Board\_ID, I32 PtbId, PPTINFO Info ); Visual Basic： APS\_get\_pt\_info (ByVal Board\_ID As Long, ByVal PtbId As Long, ByRef Info As PTINFO) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. PPTINFO Info： A structure pointer for getting information of point table typedef struct { I32 Dimension; //How many dimension in spcfied point table I32 AxisArr[6]; //Axis array of point talbe. Maximun to 6 axes depended on dimension. } PTINFO, \*PPTINFO; # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 PTINFO Info; //Enable point table 0 to 2d dimension with aixs 0 and axis 1. ret = APS\_get\_pt\_info(Board\_ID , PtbId, &Info ); //Get information of point table 0 See also： # APS\_pt\_set\_vs Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to set started speed (Vs) to point table. When point table is moving, Vs is only applicated to first point. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： C/C++： I32 FNTYPE APS\_pt\_set\_vs( I32 Board\_ID, I32 PtbId, F64 Vs ); Visual Basic： APS\_pt\_set\_vs (ByVal Board\_ID As Long, ByVal PtbId As Long, ByVal Vs As Double) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. F64 Vs： The started speed of point table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 F64 Vs = 100.0; //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Configure Vs to point table 0 ret = APS\_pt\_set\_vs(Board\_ID , PtbId, Vs ); See also： # APS\_pt\_get\_vs Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to get started speed (Vs) of point table. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： C/C++： I32 FNTYPE APS\_pt\_get\_vs( I32 Board\_ID, I32 PtbId, F64 \*Vs ); Visual Basic： APS\_pt\_get\_vs (ByVal Board\_ID As Long, ByVal PtbId As Long, ByRef Vs As Double) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. F64 \*Vs： The started speed of point table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 F64 Vs; //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Get vs of point table 0 ret = APS\_pt\_get\_vs(Board\_ID , PtbId, &Vs ); # See also： # APS\_pt\_start Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to start point table. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： C/C++： I32 FNTYPE APS\_pt\_start( I32 Board\_ID, I32 PtbId ); Visual Basic： APS\_pt\_start (ByVal Board\_ID As Long, ByVal PtbId As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Configure Vs to point table 0, Push point to point table //Start point table to move ret = APS\_pt\_start(Board\_ID , PtbId ); # See also： # APS\_pt\_stop Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to stop point table. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： C/C++： I32 FNTYPE APS\_pt\_stop( I32 Board\_ID, I32 PtbId ); Visual Basic： APS\_pt\_stop (ByVal Board\_ID As Long, ByVal PtbId As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 //Stop point table to move ret = APS\_pt\_stop(Board\_ID , PtbId ); # See also： # APS\_get\_pt\_status Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to get status of point table. There are information including the state of point table, the point buffer status, the usage and free space of point buffer, and the running counts. The detail is described as follows： - The state includes START and STOP states of point table. - The buffer status includes FULL or EMPTY status of point buffer. - The usage space is a counter of comsuming buffer size. - The free space is a counter of remaining buffer size. - The running count means how many points are executed after point table is enabled. There is a pre-defined fixed size buffer in a point table(See Note). User could push a specified move, including line move, arc move, or helical move, into the buffer. Then, user could monitor status of point table for buffer status & running status. If buffer is not full, user could push more moves in to buffer. If buffer is already full, invoking Sleep() for a while to wait points to be comsumed. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. Note : Pre-defined fixed size buffer for different product: For PCI-8254/58, AMP-204/8C is “2000”. For PCIe-833x is “2000”. For PCIe-8364RS is “50”. # Syntax： C/C++： I32 FNTYPE APS\_get\_pt\_status( I32 Board\_ID, I32 PtbId, PPTSTS Status ); Visual Basic： APS\_get\_pt\_status (ByVal Board\_ID As Long, ByVal PtbId As Long, ByRef Status As PTSTS) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. PPTSTS Status： The status of point table typedef struct ```txt { U16 BitSts; //b0 : Is PT work? [1 : working, 0 : Stopped] //b1 : Is point buffer full? [1 : full, 0 : not full] //b2 : Is point buffer empty? [1 : empty, 0 : not empty] //b3, b4, b5 : Reserved for future, Don't care. U16 PntBufFreeSpace; // Free space of point buffer U16 PntBufUsageSpace; //Usage space of point buffer U32 RunningCnt; //How many points be executed after point table is enabled } PTSTS, *PPTSTS; ``` # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt I32 ret; I32 Board_ID = 0; I32 Ptbld = 0; //Point table 0 PTSTS Status; ``` ```txt //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Get status of point table 0 ret = APS_get_pt_status(Board_ID, PtbId, &Status); ..... ``` # See also： # APS\_reset\_pt\_buffer Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to reset some buffers of point table. There are three buffers in the point table, including a move buffer, a command buffer, and a profile buffer. The move buffer could queue fixed size moves(See Note). The command buffer could control Do with a move. The profile buffer could change speed profile with a move, including Acc, Dec, S-factor, Vm, Ve and so on. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. Note : Pre-defined fixed size buffer for different product: For PCI-8254/58, AMP-204/8C is “2000”. For PCIe-833x is “2000”. For PCIe-8364RS is “50”. # Syntax： C/C++： I32 FNTYPE APS\_reset\_pt\_buffer( I32 Board\_ID, I32 PtbId ); Visual Basic： APS\_reset\_pt\_buffer (ByVal Board\_ID As Long, ByVal PtbId As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Reset buffer of point table 0 ret = APS\_reset\_pt\_buffer(Board\_ID , PtbId ); See also： # APS\_pt\_roll\_back Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to rollback to previous point. After invoking APS\_pt\_stop() to pause point table, user could rollback point table back to previous point. Then, re-start point table to execute unfinished moves by invoking APS\_pt\_start(). Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： C/C++： I32 FNTYPE APS\_pt\_roll\_back( I32 Board\_ID, I32 PtbId, F64 Max\_Speed ); Visual Basic： APS\_pt\_roll\_back (ByVal Board\_ID As Long, ByVal PtbId As Long, ByVal Max\_Speed As Double) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. F64 Max\_Speed： Max speed by float. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 F64 Max\_Speed = 10000.0; //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Push points into point table. //Start point table. Then, pause point table. //Rollback to previous point ret = APS\_pt\_roll\_back( Board\_ID, PtbId, Max\_Speed ); //Then, restart point table. See also： # APS\_pt\_get\_error Support Products： PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to get error code of point table. If point table has error in operation, error code will be recorded. Error code will be reset when re-eanbling point table. Error code refers to “ErrorCodeDef.h” to get physical meanings. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： C/C++： I32 FNTYPE APS\_pt\_get\_error ( I32 Board\_ID, I32 PtbId, I32 \*ErrCode ); Visual Basic： APS\_pt\_get\_error (ByVal Board\_ID As Long, ByVal PtbId As Long, ByRef ErrCode As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. I32 \*ErrCode： Error code of running point table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 I32 ErrCode = 0; //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Get error code of running point table ret = APS\_get\_pt\_error(Board\_ID , PtbId, &ErrCode ); See also： # APS\_pt\_dwell Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to push a dwell move into point buffer. Point buffer can used to pre-stored points in a point table(See Note). User could monitor usage / free space of point buffer to push moves. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. Note : Pre-defined fixed size buffer for different product: For PCI-8254/58, AMP-204/8C is “2000”. For PCIe-833x is “2000”. For PCIe-8364RS is “50”. # Syntax： C/C++： I32 FNTYPE APS\_pt\_dwell( I32 Board\_ID, I32 PtbId, PPTDWL Prof, PPTSTS Status ); Visual Basic： APS\_pt\_dwell (ByVal Board\_ID As Long, ByVal PtbId As Long, ByRef Prof As PTDWL, ByRef Status As PTSTS) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. PPTDWL Prof： The profile of dwell move ```c typedef struct { F64 DwTime; //Set dwell time, unit is ms. } PTDWL, *PPTDWL; ``` PPTSTS Status： The status of point table ```txt typedef struct { U16 BitSts; //b0 : Is PT work? [1 : working, 0 : Stopped] //b1 : Is point buffer full? [1 : full, 0 : not full] //b2 : Is point buffer empty? [1 : empty, 0 : not empty] //b3, b4, b5 : Reserved for future. Don't care. ``` //b6\~： Be always 0 ```txt U16 PntBufFreeSpace; // Free space of point buffer U16 PntBufUsageSpace; // Usage space of point buffer U32 RunningCnt; // How many points be executed after point table is enabled } PTSTS, *PPTSTS; ``` # Return Values： ```txt I32 Error code : Please refer to APS Functions Return Code. ``` # Example： ```txt I32 ret; I32 Board_ID = 0; I32 Ptbld = 0; //Point table 0 PTDWL Prof; PTSTS Status; ``` ```c //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Get status of point table 0 ret = APS_get_pt_status(Board_ID, Ptbld, &Status); if (!( Status.BitSts & 0x02 ) ) //Point buffer is not full { //Push move into point buffer Prof. DwTime = 100; //100ms ret = APS_pt_dwell( Board_ID, Ptbld, &Prof, &Status ); } //Start point table move APS_pt_start( Board_ID, Ptbld, 0 ); ``` See also： # APS\_pt\_line Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to push a line move into point buffer. Point buffer can used to pre-stored points in a point table(See Note). User could monitor usage / free space of point buffer to push moves. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. Note : Pre-defined fixed size buffer for different product: For PCI-8254/58, AMP-204/8C is “2000”. For PCIe-833x is “2000”. For PCIe-8364RS is “50”. # Syntax： C/C++： I32 FNTYPE APS\_pt\_line( I32 Board\_ID, I32 PtbId, PPTLINE Prof, PPTSTS Status ); Visual Basic： APS\_pt\_line (ByVal Board\_ID As Long, ByVal PtbId As Long, ByRef Prof As PTLINE, ByRef Status As PTSTS) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. PPTLINE Prof： The profile of line move ```c typedef struct { I32 Dim; //dimension F64 Pos[6]; //position array for line move } PTLINE, *PPTLINE; ``` PPTSTS Status： The status of point table ```txt typedef struct { U16 BitSts; //b0 : Is PT work? [1 : working, 0 : Stopped] //b1 : Is point buffer full? [1 : full, 0 : not full] //b2 : Is point buffer empty? [1 : empty, 0 : not empty] ``` //b3, b4, b5： Reserved for future. Don’t care. //b6\~： Be always 0 U16 PntBufFreeSpace; // Free space of point buffer U16 PntBufUsageSpace; //Usage space of point buffer U32 RunningCnt; //How many points be executed after point table is enabled } PTSTS, \*PPTSTS; # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 PTLINE Prof; PTSTS Status; //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Get status of point table 0 ret = APS\_get\_pt\_status(Board\_ID , PtbId, &Status ); if ( !( Status.BitSts & 0x02 ) ) //Point buffer is not full { //Push move into point buffer Prof.Dim = 2; Prof.Pos[0] = 10000; Prof.Pos[1] = 10000; ret = APS\_pt\_line( Board\_ID, PtbId, &Prof, &Status ); } //Start point table move APS\_pt\_start( Board\_ID, PtbId, 0 ); # See also： # APS\_pt\_arc2\_ca Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to push a 2d arc move with angle into point buffer. Point buffer can used to pre-stored points in a point table(See Note). User could monitor usage / free space of point buffer to push moves. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. Note : Pre-defined fixed size buffer for different product: For PCI-8254/58, AMP-204/8C is “2000”. For PCIe-833x is “2000”. For PCIe-8364RS is “50”. # Syntax： C/C++： I32 FNTYPE APS\_pt\_arc2\_ca( I32 Board\_ID, I32 PtbId, PPTA2CA Prof, PPTSTS Status ); Visual Basic： APS\_pt\_arc2\_ca (ByVal Board\_ID As Long, ByVal PtbId As Long, ByRef Prof As PTA2CA, ByRef Status As PTSTS) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. PPTA2CA Prof： The profile of arc move ```c typedef struct { U8 Index[2]; // [0 ~ dimension of point table] Which axis index in point table F64 Center[2]; // Center position F64 Angle; // Angle, unit is radian } PTA2CA, *PPTA2CA; ``` PPTSTS Status： The status of point table ```txt typedef struct { U16 BitSts; //b0 : Is PT work? [1 : working, 0 : Stopped] //b1 : Is point buffer full? [1 : full, 0 : not full] ``` //b2： Is point buffer empty? [1：empty, 0：not empty] //b3, b4, b5： Reserved for future. Don’t care. //b6\~： Be always 0 U16 PntBufFreeSpace; // Free space of point buffer U16 PntBufUsageSpace; //Usage space of point buffer U32 RunningCnt; //How many points be executed after point table is enabled } PTSTS, \*PPTSTS; # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 PTA2CA Prof; PTSTS Status; //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Get status of point table 0 ret = APS\_get\_pt\_status(Board\_ID , PtbId, &Status ); if ( !( Status.BitSts & 0x02 ) ) //Point buffer is not full { //Push move into point buffer Prof.Index[0] = 0; //pick dimension 0 Prof.Index[1] = 1; //pick dimension 1 Prof.Center[0] = 10000; Prof.Center[1] = 10000; Prof.Angle = 3.14159265; ret = APS\_pt\_arc2\_ca( Board\_ID, PtbId, &Prof, &Status ); } //Start point table move APS\_pt\_start( Board\_ID, PtbId ); # See also： # APS\_pt\_arc2\_ce Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to push a 2d arc move with end position into point buffer. Point buffer can used to prestored points in a point table(See Note). User could monitor usage / free space of point buffer to push moves. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. Note : Pre-defined fixed size buffer for different product: For PCI-8254/58, AMP-204/8C is “2000”. For PCIe-833x is “2000”. For PCIe-8364RS is “50”. # Syntax： C/C++： I32 FNTYPE APS\_pt\_arc2\_ce( I32 Board\_ID, I32 PtbId, PPTA2CE Prof, PPTSTS Status ); Visual Basic： APS\_pt\_arc2\_ce (ByVal Board\_ID As Long, ByVal PtbId As Long, ByRef Prof As PTA2CE, ByRef Status As PTSTS) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. PPTA2CE Prof： The profile of arc move ```c typedef struct { U8 Index[2]; // [0 ~ dimension of point table] Which axis index in point table F64 Center[2]; // Center position F64 End[2]; // End position I16 Dir; // A value specifies the rotate direction, If Dir set 0 means rotate in positive direction, dir = -1 rotate in negative direction. } PTA2CE, *PPTA2CE; ``` PPTSTS Status： The status of point table ```txt typedef struct { ``` ```txt U16 BitSts; //b0 : Is PT work? [1 : working, 0 : Stopped] //b1 : Is point buffer full? [1 : full, 0 : not full] //b2 : Is point buffer empty? [1 : empty, 0 : not empty] //b3, b4, b5 : Reserved for future. Don't care. //b6~ : Be always 0 U16 PntBufFreeSpace; // Free space of point buffer U16 PntBufUsageSpace; //Usage space of point buffer U32 RunningCnt; //How many points be executed after point table is enabled } PTSTS, *PPTSTS; ``` # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt I32 ret; I32 Board_ID = 0; I32 Ptbld = 0; //Point table 0 PTA2CE Prof; PTSTS Status; ``` ```txt //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Get status of point table 0 ret = APS_get_pt_status(Board_ID, Ptbld, &Status); if (!( Status.BitSts & 0x02 ) ) //Point buffer is not full { //Push move into point buffer Prof.Index[0] = 0; //pick dimension 0 Prof.Index[1] = 1; //pick dimension 1 Prof.Center[0] = 10000; Prof.Center[1] = 10000; Prof.End[0] = 0; Prof.End[1] = 0; Prof.Dir = 0; //Positvie direction ret = APS_pt_arc2_ce( Board_ID, Ptbld, &Prof, &Status ); } //Start point table move APS_pt_start( Board_ID, Ptbld ); ``` See also： # APS\_pt\_arc3\_ca Support Products： PCI-8254/58 / AMP-204/8C, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to push a 3d arc move with angle into point buffer. Point buffer can used to pre-stored points in a point table(See Note). User could monitor usage / free space of point buffer to push moves. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. Note : Pre-defined fixed size buffer for different product: For PCI-8254/58, AMP-204/8C is “2000”. For PCIe-833x is “2000”. For PCIe-8364RS is “50”. # Syntax： C/C++： I32 FNTYPE APS\_pt\_arc3\_ca( I32 Board\_ID, I32 PtbId, PPTA3CA Prof, PPTSTS Status ); Visual Basic： APS\_pt\_arc3\_ca (ByVal Board\_ID As Long, ByVal PtbId As Long, ByRef Prof As PTA3CA, ByRef Status As PTSTS) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. PPTA2CA Prof： The profile of 3d arc move with angle ```c typedef struct { U8 Index[3]; // [0 ~ dimension of point table] Which axis index in point table F64 Center[3]; // Center position F64 Noraml[3]; // Normal vector F64 Angle; // Angle, unit is radian } PTA3CA, *PPTA3CA; ``` PPTSTS Status： The status of point table ```txt typedef struct { U16 BitSts; //b0 : Is PT work? [1 : working, 0 : Stopped] ``` ```txt //b1 : Is point buffer full? [1 : full, 0 : not full] //b2 : Is point buffer empty? [1 : empty, 0 : not empty] //b3, b4, b5 : Reserved for future. Don't care. //b6~ : Be always 0 Space; // Free space of point buffer eSpace; //Usage space of point buffer t; //How many points be executed after point table is enabled ``` # Return Values： ```txt I32 Error code : Please refer to APS Functions Return Code. ``` # Example： ```txt I32 ret; I32 Board_ID = 0; I32 Ptbld = 0; //Point table 0 PTA3CA Prof; PTSTS Status; ``` ```c //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Get status of point table 0 ret = APS_get_pt_status(Board_ID, Ptbld, &Status); if (!( Status.BitSts & 0x02 ) ) //Point buffer is not full { //Push move into point buffer Prof.Index[0] = 0; //pick dimension index 0 Prof.Index[1] = 1; //pick dimension index 1 Prof.Index[2] = 2; //pick dimension index 2 Prof.Center[0] = 10000; Prof.Center[1] = 10000; Prof.Center[2] = 10000; Prof.Normal[0] = 0; Prof.Normal[1] = 0; Prof.Normal[2] = 1; Prof.Angle = 3.14159265; //In radian ret = APS_pt_arc3_ca( Board_ID, Ptbld, &Prof, &Status ); } ``` //Start point table move APS\_pt\_start( Board\_ID, PtbId ); See also： # APS\_pt\_arc3\_ce Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to push a 3d arc move with end position into point buffer. Point buffer can used to prestored points in a point table(See Note). User could monitor usage / free space of point buffer to push moves. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. Note : Pre-defined fixed size buffer for different product: For PCI-8254/58, AMP-204/8C is “2000”. For PCIe-833x is “2000”. For PCIe-8364RS is “50”. # Syntax： C/C++： I32 FNTYPE APS\_pt\_arc3\_ce( I32 Board\_ID, I32 PtbId, PPTA3CE Prof, PPTSTS Status ); Visual Basic： APS\_pt\_arc3\_ce (ByVal Board\_ID As Long, ByVal PtbId As Long, ByRef Prof As PTA3CE, ByRef Status As PTSTS) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. PPTA3CE Prof： The profile of 3d arc move with end position ```txt typedef struct { U8 Index[3]; // [0 ~ dimension of point table] Which axis index in point table F64 Center[3]; // Center position F64 End[3]; // End position I16 Dir; // A value specifies the rotate direction, If Dir set 0 means rotate in positive direction, dir = -1 rotate in negative direction. ``` } PTA3CE, \*PPTA3CE; PPTSTS Status： The status of point table typedef struct { ```rust U16 BitSts; //b0 : Is PT work? [1 : working, 0 : Stopped] //b1 : Is point buffer full? [1 : full, 0 : not full] //b2 : Is point buffer empty? [1 : empty, 0 : not empty] //b3, b4, b5 : Reserved for future. Don't care. //b6~ : Be always 0 U16 PntBufFreeSpace; // Free space of point buffer U16 PntBufUsageSpace; //Usage space of point buffer U32 RunningCnt; //How many points be executed after point table is enabled TS, *PPTSTS; ``` # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Refer to APS\_pt\_arc3\_ca(). # See also： # APS\_pt\_spiral\_ca Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to push a helical move with angle into point buffer. Point buffer can used to pre-stored points in a point table(See Note). User could monitor usage / free space of point buffer to push moves. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. Note : Pre-defined fixed size buffer for different product: For PCI-8254/58, AMP-204/8C is “2000”. For PCIe-833x is “2000”. For PCIe-8364RS is “50”. # Syntax： C/C++： I32 FNTYPE APS\_pt\_spiral\_ca( I32 Board\_ID, I32 PtbId, PPTHCA Prof, PPTSTS Status ); Visual Basic： APS\_pt\_spiral\_ca (ByVal Board\_ID As Long, ByVal PtbId As Long, ByRef Prof As PTHCA, ByRef Status As PTSTS) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. PPTHCA Prof： The profile of helical move with angle typedef struct { U8 Index[3]; //[0 \~ dimension of point table] Which axis index in point table F64 Center[3]; //Center position F64 Noraml[3]; //Normal vector F64 Angle; //Angle, unit is radian F64 DeltaH; //The height of helical move, User unit, F64 FinalR; //The distant from end position to normal vector, User unit } PTHCA, \*PPTHCA; PPTSTS Status： The status of point table typedef struct ```txt { U16 BitSts; //b0 : Is PT work? [1 : working, 0 : Stopped] //b1 : Is point buffer full? [1 : full, 0 : not full] //b2 : Is point buffer empty? [1 : empty, 0 : not empty] //b3, b4, b5 : Reserved for future. Don't care. //b6~ : Be always 0 U16 PntBufFreeSpace; // Free space of point buffer U16 PntBufUsageSpace; //Usage space of point buffer U32 RunningCnt; //How many points be executed after point table is enabled } PTSTS, *PPTSTS; ``` # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Refer to APS\_pt\_arc3\_ca(). # See also： # APS\_pt\_spiral\_ce Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to push a helical move with end position into point buffer. Point buffer can used to prestored points in a point table(See Note). User could monitor usage / free space of point buffer to push moves. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. Note : Pre-defined fixed size buffer for different product: For PCI-8254/58, AMP-204/8C is “2000”. For PCIe-833x is “2000”. For PCIe-8364RS is “50”. # Syntax： C/C++： I32 FNTYPE APS\_pt\_spiral\_ce( I32 Board\_ID, I32 PtbId, PPTHCE Prof, PPTSTS Status ); Visual Basic： APS\_pt\_spiral\_ce (ByVal Board\_ID As Long, ByVal PtbId As Long, ByRef Prof As PTHCE, ByRef Status As PTSTS) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. PPTHCE Prof： The profile of helical move with end position typedef struct { U8 Index[3]; //[0 \~ dimension of point table] Which axis index in point table F64 Center[3]; //Center positioi F64 Noraml[3]; //Normal vector F64 End[3]; //End position I16 Dir; //A value specifies the rotate direction, If Dir set 0 means rotate in positive direction, dir = -1 rotate in negative direction. } PTHCE, \*PPTHCE; PPTSTS Status： The status of point table typedef struct ```txt { U16 BitSts; //b0 : Is PT work? [1 : working, 0 : Stopped] //b1 : Is point buffer full? [1 : full, 0 : not full] //b2 : Is point buffer empty? [1 : empty, 0 : not empty] //b3, b4, b5 : Reserved for future. Don't care. //b6~ : Be always 0 U16 PntBufFreeSpace; // Free space of point buffer U16 PntBufUsageSpace; //Usage space of point buffer U32 RunningCnt; //How many points be executed after point table is enabled } PTSTS, *PPTSTS; ``` # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Refer to APS\_pt\_arc3\_ca(). # See also： # APS\_pt\_ext\_set\_do\_ch Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, PCIe-8364RS # Descriptions： For PCI-8254/58 / AMP-204/8C , this function is used to set do extension command into command buffer. Command buffer is active when pushing a move into point table. After pushing a move, command buffer will be automatically cleared. User could write up to 7 commands into command buffer. Then, pushing a move into point table will take those commands into point table together. Now, do command is supported. Other commands are reserved for future. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. For PCIe-833x , this function only support a ADLINK EPS-6000 slave within digital output module in topology and this slave should be placed at the first position in topology. This function is used to control digital output when execute advanced point-table function. User can use this API to control digital output when the command position reach to the target position. For PCIe-8364, this function has been test only SIEMENS ET200 with digital output module. For this function, it is required using board parameter PRB\_PT0\_MOD\_NO and PRB\_PT1\_MOD\_NO to set module no. to specify which module in topology is used for DO control of point table. Only support first 8 channels in the first DO submodule of specified module. The board parameter PRB\_IO\_ACCESS\_SEL (0x16) should be 0. This function is used to control digital output when execute advanced point-table function. User can use this API to control digital output when the command position reach to the target position. # Syntax： C/C++： I32 FNTYPE APS\_pt\_ext\_set\_do\_ch( I32 Board\_ID, I32 PtbId, I32 Channel, I32 OnOff ); Visual Basic： APS\_pt\_ext\_set\_do\_ch (ByVal Board\_ID As Long, ByVal PtbId As Long, ByVal Channel As Long, ByVal OnOff As Long) As Long # Parameters： For PCI-8254/58 / AMP-204/8C： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. I32 Channel： Do channel I32 OnOff： Do on/off. 1： On, 0： Off. For PCIe-833x, PCIe-8364RS ： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. I32 Channel： the channel number of digital output module. I32 OnOff： 0： set digital output value to 0. 1： set digital output value to 1. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Set do extension command to command buffer //Set do channel 0 to turn on ret = APS\_pt\_ext\_set\_do\_ch( Board\_ID, PtbId, 0, 1 ); //Push a move into point buffer See also： # APS\_pt\_ext\_set\_table\_no Support Products： PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to set VAO table No. extension command into command buffer. Command buffer is active when pushing a move into point table. After pushing a move, command buffer will be automatically cleared. User could write up to 7 commands into command buffer. Then, pushing a move into point table will take those commands into point table together. Now, table No. command is supported. Other commands are reserved for future. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： C/C++： I32 FNTYPE APS\_pt\_ext\_set\_table\_no( I32 Board\_ID, I32 PtbId, I32 CtrlNo, I32 TableNo ); Visual Basic： APS\_pt\_ext\_set\_table\_no (ByVal Board\_ID As Long, ByVal PtbId As Long, ByVal CtrlNo As Long, ByVal TableNo As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. I32 CtrlNo： Control No. is from 0 to 1. I32 TableNo： VAO Table No. is from -1 to 7. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Set table No. extension command to command buffer //Set VAO table No. to 0, and set control No. to 0 ret = APS\_pt\_ext\_set\_table\_no( Board\_ID, PtbId, 0, 0 ); //Push a move into point buffer See also： # APS\_pt\_set\_absolute # Descriptions： This function is used to set absolute profile into profile buffer. Profile buffer is active when pushing a move into point table. User usually sets profile all together in the beginning after enabling point table. If user wants to change some profile, user could modify them before pushing a move into point buffer. On the contrary, if user doesn’t want to modify profile, the same profile will be automatically maintained for following moves. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： C/C++： I32 FNTYPE APS\_pt\_set\_absolute ( I32 Board\_ID, I32 PtbId ); Visual Basic： APS\_pt\_set\_absolute (ByVal Board\_ID As Long, ByVal PtbId As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Set absolute profile to profilr buffer ret = APS\_pt\_set\_absolute ( Board\_ID, PtbId ); //Push a move into point buffer # See also： # APS\_pt\_set\_relative Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to set relative profile into profile buffer. Profile buffer is active when pushing a move into point table. User usually sets profile all together in the beginning after enabling point table. If user wants to change some profile, user could modify them before pushing a move into point buffer. On the contrary, if user doesn’t want to modify profile, the same profile will be automatically maintained for following moves. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： C/C++： I32 FNTYPE APS\_pt\_set\_relative ( I32 Board\_ID, I32 PtbId ); Visual Basic： APS\_pt\_set\_relative (ByVal Board\_ID As Long, ByVal PtbId As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Set relative profile to profilr buffer ret = APS\_pt\_set\_relative ( Board\_ID, PtbId ); //Push a move into point buffer # See also： # APS\_pt\_set\_trans\_buffered Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to set transition to buffer mode in profile buffer. Profile buffer is active when pushing a move into point table. User usually sets profile all together in the beginning after enabling point table. If user wants to change some profile, user could modify them before pushing a move into point buffer. On the contrary, if user doesn’t want to modify profile, the same profile will be automatically maintained for following moves. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： C/C++： I32 FNTYPE APS\_pt\_set\_trans\_buffered( I32 Board\_ID, I32 PtbId ); Visual Basic： APS\_pt\_set\_trans\_buffered (ByVal Board\_ID As Long, ByVal PtbId As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 //Enable point table 0 to 2d dimension with aixs 0 and axis 1. // Set to buffered mode ret = APS\_pt\_set\_trans\_buffered( Board\_ID, PtbId ); //Push a move into point buffer # See also： # APS\_pt\_set\_trans\_inp Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to set transition to in-position mode in profile buffer. Profile buffer is active when pushing a move into point table. User usually sets profile all together in the beginning after enabling point table. If user wants to change some profile, user could modify them before pushing a move into point buffer. On the contrary, if user doesn’t want to modify profile, the same profile will be automatically maintained for following moves. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： C/C++： I32 FNTYPE APS\_pt\_set\_trans\_inp( I32 Board\_ID, I32 PtbId ); Visual Basic： APS\_pt\_set\_trans\_inp (ByVal Board\_ID As Long, ByVal PtbId As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 //Enable point table 0 to 2d dimension with aixs 0 and axis 1. // Set to in-position mode ret = APS\_pt\_set\_trans\_inp( Board\_ID, PtbId ); //Push a move into point buffer # See also： # APS\_pt\_set\_trans\_blend\_dec Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to set transition to blending mode with deceleration in profile buffer. Profile buffer is active when pushing a move into point table. User usually sets profile all together in the beginning after enabling point table. If user wants to change some profile, user could modify them before pushing a move into point buffer. On the contrary, if user doesn’t want to modify profile, the same profile will be automatically maintained for following moves. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： C/C++： I32 FNTYPE APS\_pt\_set\_trans\_blend\_dec( I32 Board\_ID, I32 PtbId, F64 Bp ); Visual Basic： APS\_pt\_set\_trans\_blend\_dec (ByVal Board\_ID As Long, ByVal PtbId As Long, ByVal Bp As Double) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. F64 Bp： Deceleration rate. [ Bp > 0, unit/s^2 ] # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 //Enable point table 0 to 2d dimension with aixs 0 and axis 1. // Set to blending mode with deceleration. ret = APS\_pt\_set\_trans\_blend\_dec( Board\_ID, PtbId, 10000 ); //Push a move into point buffer See also： # APS\_pt\_set\_trans\_blend\_dist Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to set transition to blending mode with residue distant in profile buffer. Profile buffer is active when pushing a move into point table. User usually sets profile all together in the beginning after enabling point table. If user wants to change some profile, user could modify them before pushing a move into point buffer. On the contrary, if user doesn’t want to modify profile, the same profile will be automatically maintained for following moves. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： C/C++： I32 FNTYPE APS\_pt\_set\_trans\_blend\_dist( I32 Board\_ID, I32 PtbId, F64 Bp ); Visual Basic： APS\_pt\_set\_trans\_blend\_dist (ByVal Board\_ID As Long, ByVal PtbId As Long, ByVal Bp As Double) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. F64 Bp： Residue distance. Unit is user unit, generally is pulse. [ Bp >= 0 ] # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 //Enable point table 0 to 2d dimension with aixs 0 and axis 1. // Set to blending mode with residue distant. ret = APS\_pt\_set\_trans\_blend\_dist( Board\_ID, PtbId, 100 ); //Push a move into point buffer See also： # APS\_pt\_set\_trans\_blend\_pcnt Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to set transition to blending mode with residue distant percentage in profile buffer. Profile buffer is active when pushing a move into point table. User usually sets profile all together in the beginning after enabling point table. If user wants to change some profile, user could modify them before pushing a move into point buffer. On the contrary, if user doesn’t want to modify profile, the same profile will be automatically maintained for following moves. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： C/C++： I32 FNTYPE APS\_pt\_set\_trans\_blend\_pcnt( I32 Board\_ID, I32 PtbId, F64 Bp ); Visual Basic： APS\_pt\_set\_trans\_blend\_pcnt (ByVal Board\_ID As Long, ByVal PtbId As Long, ByVal Bp As Double) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. F64 Bp： Residue distance in travel distance’s percentage. Unit is %. [ Bp： 0.0 \~ 1.0 ] # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 //Enable point table 0 to 2d dimension with aixs 0 and axis 1. // Set to blending mode with residue distant percentage ret = APS\_pt\_set\_trans\_blend\_pcnt( Board\_ID, PtbId, 0.05 ); //Push a move into point buffer See also： # APS\_pt\_set\_acc Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to set acceleration profile into profile buffer. Profile buffer is active when pushing a move into point table. User usually sets profile all together in the beginning after enabling point table. If user wants to change some profile, user could modify them before pushing a move into point buffer. On the contrary, if user doesn’t want to modify profile, the same profile will be automatically maintained for following moves. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： C/C++： I32 FNTYPE APS\_pt\_set\_acc( I32 Board\_ID, I32 PtbId, F64 Acc ); Visual Basic： APS\_pt\_set\_acc (ByVal Board\_ID As Long, ByVal PtbId As Long, ByVal Acc As Double) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. F64 Acc： Acceleration rate. [unit/s^2, > 0 ] # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Set acceleration to 10000 ret = APS\_pt\_set\_acc( Board\_ID, PtbId, 10000 ); //Push a move into point buffer See also： # APS\_pt\_set\_dec Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to set deceleration profile into profile buffer. Profile buffer is active when pushing a move into point table. User usually sets profile all together in the beginning after enabling point table. If user wants to change some profile, user could modify them before pushing a move into point buffer. On the contrary, if user doesn’t want to modify profile, the same profile will be automatically maintained for following moves. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： C/C++： I32 FNTYPE APS\_pt\_set\_dec( I32 Board\_ID, I32 PtbId, F64 Dec ); Visual Basic： APS\_pt\_set\_dec (ByVal Board\_ID As Long, ByVal PtbId As Long, ByVal Dec As Double) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. F64 Dec： Deceleration rate. [unit/s^2, > 0 ] # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Set deceleration to 10000 ret = APS\_pt\_set\_dec( Board\_ID, PtbId, 10000 ); //Push a move into point buffer See also： # APS\_pt\_set\_acc\_dec Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to set acceleration and deceleration profile into profile buffer. Profile buffer is active when pushing a move into point table. User usually sets profile all together in the beginning after enabling point table. If user wants to change some profile, user could modify them before pushing a move into point buffer. On the contrary, if user doesn’t want to modify profile, the same profile will be automatically maintained for following moves. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： C/C++： I32 FNTYPE APS\_pt\_set\_acc\_dec( I32 Board\_ID, I32 PtbId, F64 AccDec ); Visual Basic： APS\_pt\_set\_acc\_dec (ByVal Board\_ID As Long, ByVal PtbId As Long, ByVal AccDec As Double) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. F64 AccDec： Acceleration/deceleration rate. [unit/s^2, > 0 ] # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Set acceleration / deceleration to 10000 ret = APS\_pt\_set\_acc\_dec( Board\_ID, PtbId, 10000 ); //Push a move into point buffer See also： # APS\_pt\_set\_s Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to set S-factor profile into profile buffer. Profile buffer is active when pushing a move into point table. User usually sets profile all together in the beginning after enabling point table. If user wants to change some profile, user could modify them before pushing a move into point buffer. On the contrary, if user doesn’t want to modify profile, the same profile will be automatically maintained for following moves. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： C/C++： I32 FNTYPE APS\_pt\_set\_s( I32 Board\_ID, I32 PtbId, F64 Sf ); Visual Basic： APS\_pt\_set\_s (ByVal Board\_ID As Long, ByVal PtbId As Long, ByVal Sf As Double) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. F64 Sf： s-factor [ 0 \~ 1 ] # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Set s-factor to 0.5 ret = APS\_pt\_set\_s( Board\_ID, PtbId, 0.5 ); //Push a move into point buffer See also： # APS\_pt\_set\_vm Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to set maximum velocity profile into profile buffer. Profile buffer is active when pushing a move into point table. User usually sets profile all together in the beginning after enabling point table. If user wants to change some profile, user could modify them before pushing a move into point buffer. On the contrary, if user doesn’t want to modify profile, the same profile will be automatically maintained for following moves. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： C/C++： I32 FNTYPE APS\_pt\_set\_vm( I32 Board\_ID, I32 PtbId, F64 Vm ); Visual Basic： APS\_pt\_set\_vm (ByVal Board\_ID As Long, ByVal PtbId As Long, ByVal Vm As Double) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. F64 Vm ： Max. velocity [Vm >= 0 ] # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Set Vm to 10000 ret = APS\_pt\_set\_vm( Board\_ID, PtbId, 10000 ); //Push a move into point buffer See also： # APS\_pt\_set\_ve Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to set end velocity profile into profile buffer. Profile buffer is active when pushing a move into point table. User usually sets profile all together in the beginning after enabling point table. If user wants to change some profile, user could modify them before pushing a move into point buffer. On the contrary, if user doesn’t want to modify profile, the same profile will be automatically maintained for following moves. Note： It is necessary to invoke APS\_pt\_enable() first to enable point table. Otherwise, it will be return error code. Note： Don’t invoke Pt functions with Feeder fuctions at the same time. They are exclusive. # Syntax： C/C++： I32 FNTYPE APS\_pt\_set\_ve( I32 Board\_ID, I32 PtbId, F64 Ve ); Visual Basic： APS\_pt\_set\_ve (ByVal Board\_ID As Long, ByVal PtbId As Long, ByVal Ve As Double) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PtbId： the point table id is from 0 to 1. F64 Ve： end velocity [Ve >= 0 ] # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 PtbId = 0; //Point table 0 //Enable point table 0 to 2d dimension with aixs 0 and axis 1. //Set Ve to 100 ret = APS\_pt\_set\_ve( Board\_ID, PtbId, 100 ); //Push a move into point buffer See also： # 16.Field bus functions # APS\_set\_field\_bus\_param Support Products： PCI-8392H, DPAC-3000, PCI(e)-7856, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, HSL-DIO # Descriptions： This function is used to set field bus system parameters. Users must use this function before starting field bus communication. Otherwise, the field bus will be started by default. For parameter details, you can refer to field bus parameter table. The field bus is a kind of serial network bus using in industrial field. The most popular one is CAN bus. # Syntax： C/C++： I32 FNTYPE APS\_set\_field\_bus\_param( I32 Board\_ID, I32 BUS\_No, I32 BUS\_Param\_No, I32 BUS\_Param ); Visual Basic： APS\_set\_field\_bus\_param( ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal BUS\_Param\_No As Long, ByVal BUS\_Param As Long)As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 BUS\_Param\_No： Field bus parameter number, Refer to table 622peration622 I32 BUS\_Param： Field bus parameter data. Refer to table definition. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： # See also： APS\_get\_field\_bus\_param();APS\_start\_field\_bus() # APS\_get\_field\_bus\_param Support Products： PCI-8392H, DPAC-3000, PCI(e)-7856, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, HSL-DIO # Descriptions： This function is used to get field bus system parameters. Please refer to field bus parameter table. # Syntax： C/C++： I32 FNTYPE APS\_get\_field\_bus\_param( I32 Board\_ID, I32 BUS\_No, I32 BUS\_Param\_No, I32 \*BUS\_Param ); Visual Basic： APS\_get\_field\_bus\_param( ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal BUS\_Param\_No As Long, BUS\_Param As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 BUS\_Param\_No： Field bus parameter number, Refer to table 623peration623 I32 \*BUS\_Param： Return field bus parameter data. Refer to table definition. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： # See also： APS\_set\_field\_bus\_param() # APS\_scan\_field\_bus Support Products： PCIe-833x # Descriptions： This function is used to scan field bus and generate ENI file. In the first time to use, user should call this function before use APS\_start\_field\_bus() . # Syntax： C/C++： I32 FNTYPE APS\_scan\_field\_bus( I32 Board\_ID, I32 BUS\_No ) Visual Basic： APS\_scan\_field\_bus (ByVal Board\_ID As Long, ByVal BUS\_No As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： only support number 0. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： # CASE 1： For first time to use PCIe-833x (The ENI file doesn’t exist) APS\_scan\_field\_bus( 0, 0 ); // scan field bus and generate ENI file firstly APS\_start\_field\_bus( 0, 0, 0 ); // start field bus communication Field bus operation… Do something…. APS\_stop\_field\_bus( 0, 0 ); // stop field bus communication # CASE 2： The ENI file does exist and the topology does not change. APS\_start\_field\_bus( 0, 0, 0 ); // start field bus communication Field bus operation… Do something…. APS\_stop\_field\_bus( 0, 0 ); // stop field bus communication # CASE 3： The ENI file does exist and the topology does change. APS\_scan\_field\_bus( 0, 0 ); // scan field bus and generate new ENI file firstly APS\_start\_field\_bus( 0, 0, 0 ); // start field bus communication Field bus operation… Do something…. APS\_stop\_field\_bus( 0, 0 ); // stop field bus communication # See also： APS\_start\_field\_bus(); APS\_stop\_field\_bus() Note： Before ENI generation process, this function will remove EniBuilderForCpp.log and ADLINK\_Config2.xml respectively. If ENI generation process successes, user can find the ADLINK\_Config2.xml (ENI file) in ENI folder for connecting EtherCAT network. Otherwise, this function will return an error code and user can refer the EniBuilderForCpp.log for details. # APS\_start\_field\_bus Support Products： PCI-8392H, DPAC-3000, PCI(e)-7856, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, HSL-DIO, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT, PCIe-8364RS # Descriptions： This function is used to start field bus communication. Once it is started, it will search all modules connected to the port. Because there could be motion slaves on the port, users should assign a starting axis ID when using this function. All axes of the port will start axis ID arrangement from the starting axis ID. You should call this function before using field bus even you have only I/O slaves on the port. Notice that because the slaves are automatically searched, some slaves may be lost due to communication quality. Users must check all the slaves are found and types are correct before field bus opertation. APS\_stop\_field\_bus() must be called at the end of filed bus operation. For PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT , this function is used to start field bus communication. Once it is started, it will search all modules connected to the port. User should call this function before using field bus. APS\_stop\_field\_bus() must be called at the end of filed bus operation. In the first time to use PCIe-833x, user should call APS\_scan\_field\_bus() before use APS\_start\_field\_bus() . # Syntax： C/C++： I32 FNTYPE APS\_start\_field\_bus( I32 Board\_ID, I32 BUS\_No, I32 Starting\_Axis\_ID ); Visual Basic： APS\_start\_field\_bus( ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal Starting\_Axis\_ID As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 For PCI(e)-7856, HSL field bus is Bus\_No 0 and MNET field bus is Bus\_No 1. I32 Starting\_Axis\_ID： Starting axis ID number of this field bus number. For PCIe-833x or ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： only support number 0. I32 Starting\_Axis\_ID： Don’t care. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example1： I32 ret; //Return error code. I32 boardId = 0; I32 busNum = 0; //Bus number. I32 startingAxisId = 1000; //Startin axis ID of the filed bus. Ret = APS\_start\_field\_bus( boardId, busNum, startingAxisId ); // Field bus operation… APS\_stop\_field\_bus(boardId, busNum ); //Stop field bus. # Example2： # CASE 1： For first time to use PCIe-833x (The ENI file doesn’t exist) APS\_scan\_field\_bus( 0, 0 ); // scan field bus and generate ENI file firstly APS\_start\_field\_bus( 0, 0, 0 ); // start field bus communication Field bus operation… Do something…. APS\_stop\_field\_bus( 0, 0 ); // stop field bus communication # CASE 2： The ENI file does exist and the topology does not change. APS\_start\_field\_bus( 0, 0, 0 ); // start field bus communication Field bus operation… Do something…. APS\_stop\_field\_bus( 0, 0 ); // stop field bus communication # CASE 3： The ENI file does exist and the topology does change. APS\_scan\_field\_bus( 0, 0 ); // scan field bus and generate new ENI file firstly APS\_start\_field\_bus( 0, 0, 0 ); // start field bus communication Field bus operation… Do something…. APS\_stop\_field\_bus( 0, 0 ); // stop field bus communication See also： APS\_stop\_field\_bus() # APS\_stop\_field\_bus Support Products： PCI-8392H, DPAC-3000, PCI(e)-7856, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, HSL-DIO , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT, PCIe-8364RS # Descriptions： This function is used to stop field bus communication and release its resource. This function must be called at end of process, if user ever used APS\_start\_field\_bus() to start network. # Syntax： C/C++： I32 FNTYPE APS\_stop\_field\_bus( I32 Board\_ID, I32 BUS\_No ); Visual Basic： APS\_stop\_field\_bus( ByVal Board\_ID As Long, ByVal BUS\_No As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 For PCI(e)-7856, HSL field bus is Bus\_No 0 and MNET field bus is Bus\_No 1 For PCIe-833x or ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT,I32 BUS\_No： Field busnumber.(Port number) value： only support number 0. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example1： I32 ret; //Return error code. I32 boardId = 0; I32 busNum = 0; //Bus number. I32 startingAxisId = 1000; //Startin axis ID of the filed bus. Ret = APS\_start\_field\_bus(boardId, busNum, startingAxisId ); // Field bus operation… APS\_stop\_field\_bus(boardId, busNum ); //Stop field bus. # Example2： # CASE 1： For first time to use PCIe-833x (The ENI file doesn’t exist) APS\_scan\_field\_bus( 0, 0 ); // scan field bus and generate ENI file firstly APS\_start\_field\_bus( 0, 0, 0 ); // start field bus communication Field bus operation… Do something…. APS\_stop\_field\_bus( 0, 0 ); // stop field bus communication # CASE 2： The ENI file does exist and the topology does not change. APS\_start\_field\_bus( 0, 0, 0 ); // start field bus communication Field bus operation… Do something…. APS\_stop\_field\_bus( 0, 0 ); // stop field bus communication # CASE 3： The ENI file does exist and the topology does change. APS\_scan\_field\_bus( 0, 0 ); // scan field bus and generate new ENI file firstly APS\_start\_field\_bus( 0, 0, 0 ); // start field bus communication Field bus operation… Do something…. APS\_stop\_field\_bus( 0, 0 ); // stop field bus communication # See also： APS\_start\_field\_bus() # APS\_field\_bus\_d\_set\_output Support Products： PCI-8392H, DPAC-3000, PCI(e)-7856, MNET-4XMO-(C) , MNET-1XMO , HSL-4XMO, HSL-DIO # Descriptions： This function is used to set field bus digital output on slave modules. The maximum data length of one module ID is 32-bit. If the module ID has fewer channels than 32, the higher bit must be remained zero when outputting. The read back data of higher bit will be zero Notice： For HSL\_DI56DO32\_FCN module, users should call APS\_field\_bus\_d\_set\_output\_ex() for 64 bits DIO operation. # Syntax： C/C++： I32 FNTYPE APS\_field\_bus\_d\_set\_output( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 DO\_Value ); Visual Basic： APS\_field\_bus\_d\_set\_output( ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal DO\_Value As Long )As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Module number. For High Speed Link(HSL) type field bus, the range of module number is 1 to 63. Note： In HSL, the MOD\_No is the first id occupied by the module. For MNET type field bus, the range of module number is 0 to 63. I32 DO\_Value： Digital output value. In bit format. Bit 0 corresponding to digital output channel 0 and the rest may be deduced by analogy. For MNET-4XMO the definitions of DO bits are as follows. The default value is 0xff.
Bit7Bit6Bit5Bit4Bit3Bit2Bit1Bit0
IOIF4.Do2IOIF3.Do2IOIF2.Do2IOIF1.Do2IOIF4.Do1IOIF3.Do1IOIF2.Do1IOIF1.Do1
For MNET-4XMO-C and HSL-4XMO, the definitions of DO bits are as follows. The default value is 0xf.
Bit3Bit2Bit1Bit0
IOIF4.Do1IOIF3.Do1IOIF2.Do1IOIF1.Do1
For MNET-1XMO the definitions of DO bits are as follows. The default value is 0x0.
Bit3Bit2Bit1Bit0
N/ASZSTSTLAlmReset
0(Low)1(High)0(Low)1(High)0(Low)1(High)
# Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; //return error code. I32 boardId = 0; I32 busNum = 0; I32 moduleNum = 0; I32 DO\_Value = 0; //Start Field bus first. // ret = APS\_start\_field\_bus( boardId, busNum, startingAxisId ); DO\_Value = 0xF; ret = APS\_field\_bus\_d\_set\_output(boardId, busNum,, moduleNum, DO\_Value ); # See also： APS\_field\_bus\_d\_get\_output() # APS\_field\_bus\_d\_get\_output Support Products： PCI-8392H, DPAC-3000, PCI(e)-7856, MNET-4XMO-(C) , MNET-1XMO, HSL-4XMO, HSL-DIO # Descriptions： This function is used to get field bus digital output on slave modules. Some module ID can’t be read back the output information. Please check each module’s hardware specification. The maximum data length of one module ID is 32-bit. If the module ID has fewer channels than 32, the higher bit must be remained zero when outputting. The read back data of higher bit will be zero. Notice： For HSL\_DI56DO32\_FCN module, users should call APS\_field\_bus\_d\_get\_output\_ex() for 64 bits DIO operation. # Syntax： C/C++： I32 FNTYPE APS\_field\_bus\_d\_get\_output( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 \*DO\_Value ); Visual Basic： APS\_field\_bus\_d\_get\_output( ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, DO\_Value As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Module number. For High Speed Link(HSL) type field bus, the range of module number is 1 to 63. Note： In HSL, the Module\_No is the first id occupied by the module. For MNET type field bus, the range of module number is 0 to 63. I32 \*DO\_Value： Return digital output value. Bit 0 corresponding to digital output channel 0 and the rest may be deduced by analogy. For MNET-4XMO, the definitions of DO bits are as follows. The default value is 0xff.
Bit7Bit6Bit5Bit4Bit3Bit2Bit1Bit0
IOIF4.Do2IOIF3.Do2IOIF2.Do2IOIF1.Do2IOIF4.Do1IOIF3.Do1IOIF2.Do1IOIF1.Do1
For MNET-4XMO-C and HSL-4XMO, the definitions of DO bits are as follows. The default value is 0xf.
Bit3Bit2Bit1Bit0
IOIF4.Do1IOIF3.Do1IOIF2.Do1IOIF1.Do1
For MNET-1XMO the definitions of DO bits are as follows. The default value is 0x0.
Bit3Bit2Bit1Bit0
N/ASZST0(Low)1(High)STL0(Low)1(High)AlmReset0(Low)1(High)
# Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; //return error code. I32 boardId = 0; I32 busNum = 0; I32 moduleNum = 0; I32 DO\_Value = 0; //Start Field bus first. // ret = APS\_start\_field\_bus( boardId, busNum, startingAxisId ); ret = APS\_field\_bus\_d\_get\_output(boardId, busNum, moduleNum, &DO\_Value ); # See also： APS\_field\_bus\_d\_set\_output() # APS\_field\_bus\_d\_get\_input Support Products： PCI-8392H, DPAC-3000, PCI(e)-7856, MNET-4XMO-(C), HSL-4XMO, HSL-DIO # Descriptions： This function is used to get input data from field bus digital input on slave modules. The maximum data length of one module ID is 32-bit. If the module ID has fewer channels than 32, the higher bit must be remained zero. Notice： For HSL\_DI56DO32\_FCN module, users should call APS\_field\_bus\_d\_get\_input\_ex() for 64 bits DIO operation. # Syntax： C/C++： I32 FNTYPE APS\_field\_bus\_d\_get\_input( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 \*DI\_Value ); Visual Basic： APS\_field\_bus\_d\_get\_input( ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, DI\_Value As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Module number. For High Speed Link(HSL) type field bus, the range of module number is 1 to 63. Note： In HSL, the Module\_No is the first id occupied by the module. For MNET type field bus, the range of module number is 0 to 63. I32 \*DI\_Value： Return digital input value. For MNET-4XMO, the definitions of DI bits are as follows.
Bit7Bit6Bit5Bit4Bit3Bit2Bit1Bit0
IOIF4.Di2IOIF3.Di2IOIF2.Di2IOIF1.Di2IOIF4.Di1IOIF3.Di1IOIF2.Di1IOIF1.Di1
For MNET-4XMO-C and 4XMO, the definitions of DI bits are as follows.
Bit3Bit2Bit1Bit0
IOIF4.Di1IOIF3.Di1IOIF2.Di1IOIF1.Di1
For MNET-1XMO the definitions of DI bits are as follows.
Bit3Bit2Bit1Bit0
N/AN/AN/ASTLOV
# Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```javascript 132 ret; //return error code. 132 boardId = 0; 132 busNum = 0; 132 moduleNum = 0; 132 DI_Value = 0; ``` //Start Field bus first. ```txt // ret = APS_start_field_bus( boardId, busNum, startingAxisId ); ret = APS_field_bus_d_get_input( boardId, busNum,, moduleNum, &DI_Value ); ``` See also： ```cmake APS_field_bus_d_set_output();APS_field_bus_d_get_output() ``` # APS\_field\_bus\_d\_set\_output\_ex Support Products： PCI(e)-7856 # Descriptions： This function is used to set field bus digital output on slave modules for 64 bit DIO operation. The maximum data length of one module ID is 64-bit. If the module ID has fewer channels than 64, the higher bit must be remained zero when outputting. The read back data of higher bit will be zero. Notice： Only be available on HSL\_DI56DO32\_FCN module for 64bit DIO operation. # Syntax： C/C++： I32 FNTYPE APS\_field\_bus\_d\_set\_output\_ex( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No , DO\_DATA\_EX DO\_Value ); # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Module number. For High Speed Link(HSL) type field bus, the range of module number is 1 to 63. Note： In HSL, the MOD\_No is the first id occupied by the module. For MNET type field bus, the range of module number is 0 to 63. DO\_DATA\_EX DO\_Value： Digital output value. In bit format. Bit 0 corresponding to digital output channel 0 and the rest may be deduced by analogy. The definition of its structure is shown below： typedef struct ```txt { U32 Do_ValueL; //bit[0~31] U32 Do_ValueH; //bit[32~63] } DO_DATA_EX, *PDO_DATA_EX; ``` # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt 132 ret; //return error code. 132 boardId = 0; 132 busNum = 0; ``` ```javascript I32 moduleNum = 0; DO_DATA_EX DO_Value = {0, 0}; ``` ```c //Start Field bus first. // ret = APS_start_field_bus( 638 boardId, busNum, startingAxisId ); DO_Value. Do_ValueL = 0x0F; // Turn on bit 0 ~ 3 DO_Value. Do_ValueH = 0x00; ret = APS_field_bus_d_set_output_ex(638boardId, busNum,, moduleNum, DO_Value ); ``` See also： ```txt APS_field_bus_d_get_output_ex() ``` # APS\_field\_bus\_d\_get\_output\_ex Support Products： PCI(e)-7856 # Descriptions： This function is used to get field bus digital output on slave modules for 64 bit DIO operation. The maximum data length of one module ID is 64-bit. If the module ID has fewer channels than 64, the higher bit must be remained zero when outputting. The read back data of higher bit will be zero. Notice： Only be available on HSL\_DI56DO32\_FCN module for 64bit DIO operation. # Syntax： C/C++： I32 FNTYPE APS\_field\_bus\_d\_get\_output\_ex( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, DO\_DATA\_EX \*DO\_Value ); # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Module number. For High Speed Link(HSL) type field bus, the range of module number is 1 to 63. Note： In HSL, the Module\_No is the first id occupied by the module. For MNET type field bus, the range of module number is 0 to 63. DO\_DATA\_EX \*DO\_Value： Return digital output value. Bit 0 corresponding to digital output channel 0 and the rest may be deduced by analogy. The definition of its structure is shown below： typedef struct ```txt { U32 Do_ValueL; //bit[0~31] U32 Do_ValueH; //bit[32~63] } DO_DATA_EX, *PDO_DATA_EX; ``` # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```javascript I32 ret; //return error code. I32 boardId = 0; I32 busNum = 0; ``` ```javascript I32 moduleNum = 0; DO_DATA_EX DO_Value = {0, 0}; ``` ```c //Start Field bus first. // ret = APS_start_field_bus(640 boardId, busNum, startingAxisId); ``` ```c ret = APS_field_bus_d_get_output_ex(640boardId, busNum, moduleNum, &DO_Value); ``` # See also： ```txt APS_field_bus_d_set_output_ex() ``` # APS\_field\_bus\_d\_get\_input\_ex Support Products： PCI(e)-7856 # Descriptions： This function is used to get input data from field bus digital input on slave modules for 64 bit DIO operation. The maximum data length of one module ID is 64-bit. If the module ID has fewer channels than 64, the higher bit must be remained zero. Notice： Only be available on HSL\_DI56DO32\_FCN module for 64bit DIO operation. # Syntax： C/C++： I32 FNTYPE APS\_field\_bus\_d\_get\_input\_ex( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, DI\_DATA\_EX \*DI\_Value ); # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Module number. For High Speed Link(HSL) type field bus, the range of module number is 1 to 63. Note： In HSL, the Module\_No is the first id occupied by the module. For MNET type field bus, the range of module number is 0 to 63. I32 \*DI\_Value： Return digital input value. Bit 0 corresponding to digital input channel 0 and the rest may be deduced by analogy. The definition of its structure is shown below： typedef struct ```txt { U32 Di_ValueL; //bit[0~31] U32 Di_ValueH; //bit[32~63] } DI_DATA_EX, *PDI_DATA_EX; ``` # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt I32 ret; //return error code. I32 boardId = 0; I32 busNum = 0; I32 moduleNum = 0; ``` ```txt DI_DATA_EX DI_Value = {0, 0}; ``` //Start Field bus first. ret = APS\_start\_field\_bus( boardId, busNum, startingAxisId ); //Get 64 bit DI data ret = APS\_field\_bus\_d\_get\_input\_ex(642boardId, busNum, moduleNum, &DI\_Value ); # See also： APS\_field\_bus\_d\_set\_output\_ex(); APS\_field\_bus\_d\_get\_output\_ex() # APS\_set\_field\_bus\_slave\_param Support Products： PCI-8392H, DPAC-3000, PCI(e)-7856 # Descriptions： This function is used to set field bus slave parameter. Some parameters are for slave module itself and some are for channels of slave. It is depend on inputparameter “I32 Ch\_no”. When you set -1 to Ch\_no, it means you set parameter to specified module (module layer parameter). Otherwise you set channel number to CH\_no to set parameter to specified channel The detail of field bus slave parameters, please refer to slave parameter table. # Syntax： C/C++： I32 FNTYPE APS\_set\_field\_bus\_slave\_param( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 Ch\_No, I32 ParaNum, I32 ParaDat ); Visual Basic： APS\_set\_field\_bus\_slave\_param( ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal Ch\_No As Long, ByVal ParaNum As Long, ByVal ParaDat As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Slave Module number. For HSL slave module, depend on slave ID ： 1 \~ 63. Note： In HSL, the Module\_No is the first id occupied by the module. I32 Ch\_No： Channel number. If set this parameter to -1 mean set slave parameter. -1 ： Set parameter to specified slave module number. 0 \~ ： Set parameter to specified channel number ( AIO channel , DIO channel etc.) I32 ParaNum： Slave / Channel parameter number. Refer to fieldbus slave parameter definition table. I32 ParaDat： Slave / Channel parameter data. Refer to fieldbus slave parameter definition table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： See also： APS\_get\_field\_bus\_slave\_param() # APS\_get\_field\_bus\_slave\_param Support Products： PCI-8392H, DPAC-3000, PCI(e)-7856 # Descriptions： This function is used to get field bus slave parameter. Some parameters are for slave module itself and some are for channels of slave. It is depened on inputparameter “I32 Ch\_no”. When you set -1 to Ch\_no, it means you set parameter to specified module. Otherwise you set channel number to CH\_no to set parameter to specified channel. The detail of field bus slave parameters, please refer to slave parameter table. # Syntax： C/C++： I32 FNTYPE APS\_get\_field\_bus\_slave\_param( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 Ch\_No, I32 ParaNum, I32 \*ParaDat ); Visual Basic： APS\_get\_field\_bus\_slave\_param( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 Ch\_No, I32 ParaNum, I32 \*ParaDat ); # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Slave Module number. For HSL slave module, depend on slave ID ： 1 \~ 63. Note： In HSL, the Module\_No is the first id occupied by the module. I32 Ch\_No： Channel number. If set this parameter to -1 mean set slave parameter. -1 ： Set parameter to specified slave module number. 0 \~ ： Set parameter to specified channel number ( AIO channel , DIO channel etc.) I32 ParaNum： Slave / Channel parameter number. Refer to fieldbus slave parameter definition table. I32 \*ParaDat： Return Slave / Channel parameter data. Refer to fieldbus slave parameter definition table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： See also： APS\_set\_field\_bus\_slave\_param() # APS\_set\_field\_bus\_a\_output Support Products： PCI-8392(H) , DPAC-3000, PCI(e)-7856, PCIe-833x, PCIe-8364RS # Descriptions： This function is used to set analog type of field bus salve analog output value. The conversion from digital value to floating point value is according to hardware specifications and built-in in APS. For PCIe-833x, this API only support ADLINK’s slave or module like below table.
VendorSlave seriesModule
ADLINKEU seriesEU-4104, EU-4304
ADLINKEPS seriesEPS-4008
If user needs to control other vendor slave via this API, please refer to PCIe-833x IO mapping and create configuration file. After calling APS\_load\_config\_from\_file API with configuration file created by IO mapping, user can operate this API. # Syntax： C/C++： I32 FNTYPE APS\_set\_field\_bus\_a\_output( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 Ch\_No, F64 AO\_Value ); Visual Basic： APS\_set\_field\_bus\_a\_output( ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal Ch\_No As Long, ByVal AO\_Value As Double ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Slave Module number. For HSL slave module, depend on slave ID ： 1 \~ 63. Note： In HSL, the Module\_No is the first id occupied by the module. I32 Ch\_No： Channel number. Value range 0 \~ n ( n = max. channel number – 1 ) F64 AO\_Value： Analog output. Unit of value is depended on slave type. [V] for voltage / [A] for current. For PCIe-833x ： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number. (only support index 0) I32 MOD\_No： The index of slave device (start from 0) I32 Ch\_No： Channel number. (start from 0) F64 AO\_Value： Analog output. Unit of value is depended on slave type. [V] for voltage / [A] for current. # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： # See also： APS\_get\_field\_bus\_a\_output( ); APS\_get\_field\_bus\_a\_input() # APS\_get\_field\_bus\_a\_output Support Products： PCI-8392(H) , DPAC-3000, PCI(e)-7856, PCIe-833x, PCIe-8364RS # Descriptions： This function is used to get analog output of analog type field bus salve. The conversion from digital value to floating point value is according to hardware specifications and built-in in APS. For PCIe-833x, this API only support ADLINK’s slave or module like below table.
VendorSlave seriesModule
ADLINKEU seriesEU-4104, EU-4304
ADLINKEPS seriesEPS-4008
If user needs to control other vendor slave via this API, please refer to PCIe-833x IO mapping and create configuration file. After calling APS\_load\_config\_from\_file API with configuration file created by IO mapping, user can operate this API. # Syntax： C/C++： I32 FNTYPE APS\_get\_field\_bus\_a\_output( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 Ch\_No, F64 \*AO\_Value );Visual Basic： APS\_get\_field\_bus\_a\_output(ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal Ch\_No As Long, AO\_Value As Double ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Slave Module number. For HSL slave module, depend on slave ID ： 1 \~ 63. Note： In HSL, the Module\_No is thefirst id occupied by the module. I32 Ch\_No： Channel number. Value range 0 \~ n ( n = max. channel number – 1 ) F64 \*AO\_Value： Return analog output. Unit of value is depended on slave type. [V] for voltage / [A] for current. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： See also： APS\_set\_field\_bus\_a\_output(); APS\_get\_field\_bus\_a\_input() # APS\_get\_field\_bus\_a\_input Support Products： PCI-8392(H) , DPAC-3000, PCI(e)-7856 , PCIe-833x, PCIe-8364RS # Descriptions： This function is used to get analog input of analog type field bus salve. The conversion from digital value to floating point value is according to hardware specifications and built-in in APS. For PCIe-833x, this API only support ADLINK’s slave or module like below table.
VendorSlave seriesModule
ADLINKEU seriesEU-3104, EU-3304
ADLINKEPS seriesEPS-3032, EPS-3216, EPS-3504
If user needs to control other vendor slave via this API, please refer to PCIe-833x IO mapping and create configuration file. After calling APS\_load\_config\_from\_file API with configuration file created by IO mapping, user can operate this API. # Syntax： C/C++： I32 FNTYPE APS\_get\_field\_bus\_a\_input( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 Ch\_No, F64 \*AI\_Value ); Visual Basic： APS\_get\_field\_bus\_a\_input(ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal Ch\_No As Long, AI\_Value As Double) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Slave Module number. For HSL slave module, depend on slave ID ： 1 \~ 63. Note： In HSL, the Module\_No is thefirst id occupied by the module. I32 Ch\_No： Channel number. Value range 0 \~ n ( n = max. channel number – 1 ) F64 \*AI\_Value： Return analog input. Unit of value is depended on slave type. [V] for voltage / [A] for current. For PCIe-833x： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number. (only support index 0) I32 MOD\_No： The index of slave device (start from 0) I32 Ch\_No： Channel number. F64 \*AI\_Value： Return analog input. Unit of value is depended on slave type. [V] for voltage / [A] for current. # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： # See also： APS\_set\_field\_bus\_a\_output(); APS\_get\_field\_bus\_a\_output( ) # APS\_get\_slave\_connect\_quality Support Products： PCI-8392(H), DPAC-3000, PCI(e)-7856 # Descriptions： This function is used to get the connected quality of slave. After starting to scan slave module, this function can be used to check if any error of communication occurred. This result only shows the status at the moment when executing, not showing the status in the history. User can set the checking degree by PRF\_CHKERRCNT\_LAYER parameter. The range of return value is according to the number of id occupied by the module. It must be remained again that this function just shows the quality of connection at this moment. Note： This function supports HSL bus. Note： This function doesn’t support MotionNet bus. # Syntax： C/C++： I32 FNTYPE APS\_get\_slave\_connect\_quality( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 \*Sts\_data ); Visual Basic： APS\_get\_slave\_connect\_quality (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByRef Sts\_data As Long); # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1. This function only supports HSL bus now. I32 MOD\_No： Slave Module number. For HSL slave module, depend on slave ID ： 1 \~ 63. Note： In HSL, the Module\_No is the first id occupied by the module. I32 \*Sts\_data ： Return status value. The return value is bit form. Each bit decriebes the communication status for each id respectively. Zero is normal, one is abnormal. For example： HSL module may occupy id more than one. You can recognize the state of each id via the retun value. However, if the return value is bigger than zero, it means that the communication isn’t stable in the module. 0x00(0)： All id is normal. 0x01(1)： The first id is abnormal. 0x05(5)： The first and the third ids are abnormal. 0x0f(15) ： All ids are abnormal # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example for HSL bus： ```txt //If the module occupies 4 ids. I32 ret; //return error code. I32 boardId = 0; I32 busNum = 0; I32 moduleNum = 1; I32 Sts_data = 0; I32 bus_param = 5; I32 startingAxisId = 0; //Start Field bus first. Ret = APS_start_field_bus(boardId, busNum, startingAxisId); ret = APS_set_field_bus_param (boardId, busNum, PRF_CHKERRCNT_LAYER, bus_param); ret = APS_get_slave_connect_quality(boardId, busNum, moduleNum, &Sts_data); //if Sts_data is 5, it means that first and third ids are abnormal. ``` # See also： APS\_get\_slave\_online\_status() # APS\_get\_slave\_online\_status Support Products： PCI-8392(H) , DPAC-3000, PCI(e)-7856, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, HSL-DIO , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to get the status of online. After starting to scan slave module, this function can be used to check if the slave module is online or offline. It must be noted that this function just shows the status of communication at this moment. Note： This function supports both HSL & MotionNet bus. Note： For the HSL bus, the range of return value is according to the number of bit occupied by the module. For PCIe-833x or ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT , this function is used to get the status of slave. This function should be executed after starting field bus. # Syntax： C/C++： I32 FNTYPE APS\_get\_slave\_online\_status ( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 \* Live ); Visual Basic： APS\_get\_slave\_online\_status (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByRef Live); # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Slave Module number. For HSL slave module, depend on slave ID ： 1 \~ 63. Note： In HSL, the Module\_No is the first id occupied by the module. For MNET slave module, depend on slave ID ： 0 \~ 63 I32 \* Live ： Return status value. The return value is bit form. Each bit decriebes the status for each id respectively. 0 is offline, 1 is online Example for HSL bus： HSL module may occupy id more than one. You can recognize the state of each id via the retun value. 0x00(0)： All ids are offline 0x01(1)： The first id is online 0x05(5)： The first and the third ids are online 0x0f(15) ： All ids are online Example for Mnet bus： User could identify communication error for specific SlaveId by invoking this function at this moment. If a communication error occurs for a specific SlaveId on three consecutive communication cycles, it will issue a communication error. 0x00(0)： This id is offline. That is, this id issues a communication error. 0x01(1)： This id is online. That is, the communication of this id is good. For PCIe-833x ： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) only support number 0. I32 MOD\_No： The number ID of slave. I32 \*Live ： Return the status of slave by bits definitions. As follows are bits definitions： Bit 0： 0： Slave Absense 1： Slave Presence Bit 1： 0： Not Bus Scan 1： Bus Scan Bit 2： 0： Not Initial 1： Initial Bit 3： 0： Not PreOP 1： PreOP Bit 4： 0： Not SafeOP 1： SafeOP Bit 5： 0： Not OP 1： OP # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example Below example is for HSL bus： //If the module occupies 4 ids. I32 ret; //return error code. I32 boardId = 0; I32 busNum = 0; //HSL bus number I32 moduleNum = 1; I32 on\_line = 0; I32 bus\_param = 5; I32 startingAxisId = 0; //Start Field bus first. Ret = APS\_start\_field\_bus(boardId, busNum, startingAxisId ); ret = APS\_get\_slave\_online\_status (boardId, busNum, moduleNum, & on\_line ); //if on\_line is 5, it means that first and third ids are online. # Example2： Below example is for MotionNet bus： I32 ret; //return error code. I32 boardId = 0; I32 busNum = 1; //MotionNet Bus number I32 moduleNo = 10; I32 on\_line = 0; //Start Field bus.. //Check if communication has error for specific ModuleId at this moment. Ret = APS\_get\_slave\_online\_status (boardId, busNum, moduleNo, & on\_line ); # Example3： Below example is for PCIe-833x I32 ret; I32 Board\_ID = 0; I32 BUS\_No = 0; I32 MOD\_No = 0; I32 Live = 0; ret = APS\_get\_slave\_online\_status ( Board\_ID, BUS\_No, MOD\_No, &Live ); if( ret == ERR\_NoError ) ```txt { if (Live & 0x1) printf("This slave is present. \n"); else printf("This slave is absent. \n"); } ``` # See also： APS\_get\_slave\_connect\_quality() # APS\_get\_field\_bus\_master\_status Support Products： PCIe-833x, PCIe-8364RS # Descriptions： For PCIe-833x： To Get field bus master status such INIT state、SAFEOP state and OP state in the EtherCAT definition. For PCIe-8364RS： To Get field bus master status. # Syntax： C/C++： I32 FNTYPE APS\_get\_field\_bus\_master\_status( I32 Board\_ID, I32 BUS\_No, U32 \*Status ) Visual Basic： APS\_get\_field\_bus\_master\_status (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByRef Status As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： only support number 0. U32 \*Status： Return status of the field bus master. For PCIe-833x： The status of the field bus master are as follows： EC\_STATE\_NOT\_RDY (0x0000) EC\_STATE\_RDY (0x0001) EC\_STATE\_BUS\_SCAN (0x0002) EC\_STATE\_INIT (0x0003) EC\_STATE\_PREOP (0x0004) EC\_STATE\_SAFEOP (0x0005) EC\_STATE\_OP (0x0006) For PCIe-8364RS：
ValueDefinition
0OFFLINE mode (Stop), it is not possible to transfer IO data, data records, or alarms in this mode.
1Reserved
2OPERATE mode, in this mode, the current IO data is transferred.
# Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： See also： # APS\_get\_field\_bus\_last\_scan\_info Support Products： PCI-8392(H) , DPAC-3000, PCI(e)-7856, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, HSL-DIO , PCIe-833x, PCIe-8364RS # Descriptions： This function is used to get the fieldbus info after system scanning. Please refer to the fieldbus Info table. # Syntax： C/C++： I32 FNTYPE APS\_get\_field\_bus\_last\_scan\_info ( I32 Board\_ID, I32 BUS\_No, I32 \* Info\_Array, I32 Array\_Size, I32 \*Info\_Count ); Visual Basic： APS\_get\_field\_bus\_last\_scan\_info (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByRef Info\_Array As Long, ByVal Array\_Size As Long, ByRef Info\_Count As Long); # Parameters： For MNET： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 \* Info\_Array： return scanning info. Refer to fieldbus Info table. I32 Array\_Size： The array size which user want to get. I32 \* Info\_Count： return the actual size. For MNET fieldbus info table
Array IndexReturn scanning fieldbus Info
0Total numbers of Slaves after scanning.
1Total numbers of axes after scanning.
For PCIe-833x： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) only support number 0. I32 \* Info\_Array： return scanning info. Refer to fieldbus Info table. I32 Array\_Size： The array size which user want to get. I32 \* Info\_Count： return the actual size. For PCIe-833x fieldbus info table
Array IndexReturn scanning fieldbus Info
0Total numbers of Slaves after scanning.
1Not support.
# Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example1： ```c Below example is for MNET 132 ret; 132 Info_Array[2]; 132 Info_Count; ret = APS_get_field_bus_last_scan_info(0, 1, & Info_Array, 2, & Info_Count); if(ret != ERR_NoError) { //Get fieldbus info } ``` # Example2： ```c Below example is for PCIe-833x I32 ret; I32 Info_Array[1]; I32 Info_Count; I32 Slave_Count; ret = APS_get_field_bus_last_scan_info (0, 1, & Info_Array, 1, & Info_Count); if( ret == ERR_NoError ) { //To get how many slaves number in the fieldbus Slave_Count = Info_Array[0]; } ``` # See also： # APS\_get\_field\_bus\_master\_type Support Products： PCI-8392(H) , DPAC-3000, PCI(e)-7856, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, HSL-DIO # Descriptions： This function is used to get the master type of the fieldbus. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_field\_bus\_master\_type( I32 Board\_ID, I32 BUS\_No, I32 \*BUS\_Type ); Visual Basic： APS\_get\_field\_bus\_master\_type(ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByRef BUS\_Type As Long); # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 \* BUS\_Type： Return . 0 ： Reserved 1 ： HSL 2 ： MNET # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 BUS\_Type; ret = APS\_get\_field\_bus\_master\_type ( 0, 1, & BUS\_Type ); if( ret != ERR\_NoError ) { // get the master type of the fieldbus } # See also： # APS\_get\_field\_bus\_slave\_type Support Products： PCI-8392(H) , DPAC-3000, PCI(e)-7856, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, HSL-DIO # Descriptions： This function is used to get the slave type on the fieldbus. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_field\_bus\_slave\_type( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 \*MOD\_Type ); Visual Basic： APS\_get\_field\_bus\_slave\_type(ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long , ByRef MOD\_Type As Long); # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Slave Module number. For HSL slave module, depend on slave ID ： 1 \~ 63. In HSL, the Module\_No is the first id occupied by the module. For MNET slave module, depend on slave ID ： 0 \~ 63 I32 \* MOD\_Type： Return . ```txt 0 : Reserved 1 : HSL 2 : MNET ``` # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 MOD\_Type; ret = APS\_get\_field\_bus\_slave\_type ( 0, 1, 10, & MOD\_Type ); if( ret != ERR\_NoError ) { // get the slave type on the fieldbus } See also： # APS\_get\_field\_bus\_slave\_name Support Products： PCI-8392(H) , DPAC-3000 , PCI(e)-7856, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO, HSL-DIO # Descriptions： This function is used to get the slave name on the fieldbus. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_field\_bus\_slave\_name( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 \*MOD\_Name); Visual Basic： APS\_get\_field\_bus\_slave\_name (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long , ByRef MOD\_Type As Long); # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Slave Module number. For HSL slave module, depend on slave ID ： 1 \~ 63. In HSL, the Module\_No is the first id occupied by the module. For MNET slave module, depend on slave ID ： 0 \~ 63 I32 \* MOD\_ Name： Return module name. 0x000： UNKNOWN 0x100： HSL\_DI32 0x101： HSL\_DO32 0x102： HSL\_DI16DO16 0x103： HSL\_AO4 0x104： HSL\_AI16AO2VV 0x105： HSL\_AI16AO2\_AV 0x106： HSL\_DI16UL 0x107： HSL\_DI16RO8 0x108： HSL 4XMO 0x109： HSL\_DI16\_UCT 0x10A： HSL\_DO16\_UCT 0x10B： HSL\_DI8DO8 0x10C： HSL\_DI56DO32\_FCN 0x200： MNET\_1XMO 0x201： MENT-4XMO 0x202： MENT-4XMO-C # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```c I32 ret; I32 MOD_Name; ret = APS_get_field_bus_slave_type (0, 1, 10, & MOD_Name); if( ret != ERR_NoError ) { // get the slave name on the fieldbus } ``` # See also： # APS\_get\_field\_bus\_slave\_first\_axisno Support Products： PCI-8392(H) , DPAC-3000 , PCI(e)-7856, MNET-4XMO-(C), MNET-1XMO, HSL-4XMO # Descriptions： This function is used to get first axis of the slave module. After starting to scan slave module, this function can be used to get what axisID is allocated to the slave module. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_field\_bus\_slave\_first\_axisno ( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 \*AxisNo, I32 \*Totalaxes); Visual Basic： APS\_get\_field\_bus\_slave\_first\_axisno (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long , ByRef AxisNo As Long, ByRef TotalAxes As Long); # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Slave Module number. For HSL slave module, depend on slave ID ： 1 \~ 63. In HSL, the Module\_No is the first id occupied by the module. For MNET slave module, depend on slave ID ： 0 \~ 63 I32 \*AxisNo： return first axis of the slave module. I32 \*TotalAxes： return total axes of this module # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 AxisID; I32 Totalaxes; ret = APS\_get\_field\_bus\_slave\_first\_axisno ( 0, 1, 10, & AxisID,& Totalaxes ); if( ret != ERR\_NoError ) { // get first axis of the slave module } See also： # APS\_get\_field\_bus\_device\_info Support Products： PCI-8392(H) , DPAC-3000 , PCI(e)-7856, MNET-4XMO-(C), HSL-4XMO # Descriptions： This function is used to get specified device (Slave) information. The information includes firmware version, PCB version and so on. Refer to device information table. # Syntax： ```txt C/C++ ``` I32 FNTYPE APS\_get\_field\_bus\_device\_info( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 Info\_No, I32 \*Info ); Visual Basic： APS\_get\_field\_bus\_device\_info ( ByVal Board\_ID As Long, ByVal BUS\_No As Long , ByVal MOD\_No As Long , ByVal Info\_No As Long, Info As Long ) As Long # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Slave Module number. For HSL slave module, depend on slave ID ： 1 \~ 63. In HSL, the Module\_No is the first id occupied by the module. For MNET slave module, depend on slave ID ： 0 \~ 63 I32 Info\_No： Reference to device information table. I32 \*Info： Reference to device information table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt I32 Board_ID = 0; ``` ```txt I32 BUS_No = 1; ``` ```txt 132 MOD_No = 0; ``` ```txt 132 ret; ``` ```txt 132 Info; ``` ```txt ret = APS_get_field_bus_device_info (Board_ID, BUS_No, MOD_No, 0x20, &Info); ``` ```txt if( ret != ERR_NoError ) ``` ```scss { //Show device information. ``` } See also： # APS\_get\_field\_bus\_module\_info Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT, PCIe-8364RS # Descriptions： This function is used to get the slave device information after system starting. You can use this function to get such as vendorID、product code、Total Axis number、IO number etc., # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_field\_bus\_module\_info(I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, PEC\_MODULE\_INFO Module\_info ); Visual Basic： APS\_get\_field\_bus\_module\_info (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByRef Module\_info As EC\_MODULE\_INFO) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) only support number 0. I32 MOD\_No： slave number (start from number 0) PEC\_MODULE\_INFO Module\_info ： structure of slave information. For detail of the members parameters as below： I32 VendorID： the vender ID number of slave. I32 ProductCode： the product number of slave. I32 RevisionNo： the revision number of slave. I32 TotalAxisNum： the total axes of slave. I32 Axis\_ID[64]： the axis ID number of auto slave ID mode. I32 Axis\_ID\_manual[64]： the axis ID number of manual slave ID mode. I32 All\_ModuleType[32]： the sub module ID by sequence. I32 DI\_ModuleNum： the number of digital input module in slave. I32 DI\_ModuleType[32]： the type of digital input module in slave. I32 DO\_ModuleNum： the number of digital output module in slave. I32 DO\_ModuleType[32]： the type of digital output module in slave. I32 AI\_ModuleNum： the number of analog input module in slave. I32 AI\_ModuleType[32]： the type of analog input module in slave. I32 AO\_ModuleNum： the number of analog output module in slave. I32 AO\_ModuleType[32]： the type of analog output module in slave. Char Name[128]： Reserve. Return Values： ```txt I32 Error code : Please refer to APS Functions Return Code. ``` Example： ```c 132 ret; 132 Board_ID = 0; 132 BUS_No = 0; 132 MOD_No = 0; EC_MODULE_INFO Module_info; ret = APS_get_field_bus_module_info(Board_ID, BUS_No, MOD_No, &Module_info); if( ret == ERR_NoError ) { printf("Vendor ID is : 0x%x.\n", Module_info.VendorID); printf("Total axis number is : %d.\n", Module_info.TotalAxisNum); } ``` See also： # APS\_reset\_field\_bus\_alarm Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT, PCIe-8364RS # Descriptions： When servo drives occured alarm, and alarm severity is not critical you can reset the alarm signal by this function. # Syntax： C/C++： I32 FNTYPE APS\_reset\_field\_bus\_alarm( I32 Axis\_ID ); Visual Basic： APS\_reset\_field\_bus\_alarm (ByVal Axis\_ID As Long) As Long # Parameters： I32 Axis\_ID： Number of axis. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Axis\_ID = 0; ret = APS\_reset\_field\_bus\_alarm( Axis\_ID); if( ret == ERR\_NoError ) { printf(“Reset alarm successful.＼n”); } See also： # APS\_get\_field\_bus\_alarm Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT, PCIe-8364RS # Descriptions： For PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT, When servo drives occured alarm, you can get alarm code by calling this function which to get value in OD(Error code,0x603F).The alarm code definition depends on each vendor of servo drive, you may reference to vendor’s servo drive manual. For PCIe-8364RS, When servo drives occured alarm, you can get alarm code by calling this function.The alarm code definition depends on each vendor of servo drive, you may reference to vendor’s servo drive manual. # Syntax： C/C++： I32 FNTYPE APS\_get\_field\_bus\_alarm( I32 Axis\_ID, U32 \*AlarmCode ); Visual Basic： APS\_get\_field\_bus\_alarm (ByVal Axis\_ID As Long, ByRef AlarmCode As UInteger) As Long # Parameters： I32 Axis\_ID： Number of axis. U32 \*AlarmCode： return alarm status from slave. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Axis\_ID = 0; U32 AlarmCode; ret = APS\_get\_field\_bus\_alarm( Axis\_ID, &AlarmCode ); if( ret == ERR\_NoError ) { printf(“Display alarm code= %d＼n”, AlarmCode); } See also： # APS\_get\_field\_bus\_pdo Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This is the lowest level function which you can directely get value from EtherCAT PDO memory and align to EtherCAT cycle time. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_field\_bus\_pdo( I32 Board\_ID, I32 BUS\_No, U16 ByteOffset, U16 Size, U32 \*Value ); Visual Basic： APS\_get\_field\_bus\_pdo (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal ByteOffset As Long, ByVal Size As Long, ByRef Value As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) only support number 0. U16 ByteOffset： The offset address of specific PDO data, unit is byte. U16 Size： The size value of PDO data, unit is byte. U32 \*Value： Return the value of PDO data. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 BUS\_No = 0; U16 ByteOffset = 16;//the OD offset of PDO is 16 bytes U16 Size = 4;//to get 4 bytes data back U32 Value = 0; ret=APS\_get\_field\_bus\_pdo(Board\_ID, BUS\_No, ByteOffset, Size, &Value ) if( ret == ERR\_NoError ) { printf(“Display PDO value= %d＼n”, Value); } See also： # APS\_set\_field\_bus\_pdo Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This is the lowest level function which you can directely set value to EtherCAT PDO memory and align to EtherCAT cycle time. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_field\_bus\_pdo( I32 Board\_ID, I32 BUS\_No, U16 ByteOffset, U16 Size, U32 Value ); Visual Basic： APS\_set\_field\_bus\_pdo(ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal ByteOffset As Long, ByVal Size As Long, ByVal Value As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) only support number 0. U16 ByteOffset： The offset address of specific PDO data, unit is byte. U16 Size： The size value of PDO data, unit is byte. U32 Value： The value set to the PDO. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 BUS\_No = 0; U16 ByteOffset = 16;//the OD offset of PDO is 16 bytes U16 Size = 4;//to set 4 bytes data U32 Value = 65535; ret=APS\_set\_field\_bus\_pdo(Board\_ID, BUS\_No, ByteOffset, Size, Value ) if( ret == ERR\_NoError ) { printf(“Set data to PDO value successful＼n”); } See also： # APS\_get\_field\_bus\_pdo\_offset Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This is the lowest level function which you can directely get information from all EtherCAT PDO, like numbers, datatype, size, index and name. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_field\_bus\_pdo\_offset( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, PPDO\_OFFSET \*PPTx, U32 \*NumOfTx, PPDO\_OFFSET \*PPRx, U32 \*NumOfRx); Visual Basic： APS\_get\_field\_bus\_pdo\_offset (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByRef PPTx As IntPtr, ByRef NumOfTx As UInteger, ByRef PPRx As IntPtr, ByRef NumOfRx As UInteger) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) only support number 0. I32 MOD\_No： slave number (start from number 0) PPDO\_OFFSET \*PPTx： Return information of Tx PDO U32 \*NumOfTx： Number of slave PDO Tx PPDO\_OFFSET\* PPRx： Return information of Rx PDO U32 \*NumOfRx： Number of slave PDO Rx # typedef struct ```txt { ``` U16 DataType; The type of PDO data. U32 ByteSize; The size of PDO data, unit is byte. U32 ByteOffset; The offset address of specific PDO data, unit is byte. U32 Index; The index of PDO object U8 NameArr[128]; The name of PDO object } PDO\_OFFSET, \*PPDO\_OFFSET; # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 BUS\_No = 0; I32 MOD\_No= 0; PPDO\_OFFSET PPTx; PPDO\_OFFSET PPRx; U32 Tx\_cnt, Rx\_cnt; I32 i; ```txt ret = APS_get_field_bus_pdo_offset(Board_ID, BUS_No, MOD_No, &PPTx, &Tx_cnt, &PPRx, &Rx_cnt); ``` ```txt if(ret == ERR_NoError) { // load data from PPDO_OFFSET struct for(i=0;i++;i<Tx_cnt) { printf("DataType : %d \n",(PPTx+i)-> DataType) printf("ByteSize : %d \n",(PPTx+i)->ByteSize) printf("ByteOffset : %d \n",(PPTx+i)->ByteOffset) printf("Name : %s \n",(PPTx+i)->NameArr) } for(i=0;i++;i<Rx_cnt) { printf("DataType : %d \n",(PPRx+i)-> DataType) printf("ByteSize : %d \n",(PPRx+i)->ByteSize) printf("ByteOffset : %d \n",(PPRx+i)->ByteOffset) printf("Name : %s \n",(PPRx+i)->NameArr) } } ``` See also： # APS\_get\_field\_bus\_sdo Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： Use this function to get OD data from specific slave by SDO method. # Syntax： C/C++： I32 FNTYPE APS\_get\_field\_bus\_sdo( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, U16 ODIndex, U16 ODSubIndex,U8 \*Data, U32 DataLen, U32 \*OutDatalen, U32 Timeout, U32 Flags ); Visual Basic： APS\_get\_field\_bus\_sdo (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal ODIndex As UShort, ByVal ODSubIndex As UShort, ByRef Data As Byte, ByVal DataLen As UInteger, ByRef OutDatalen As UInteger, ByVal Timeout As UInteger, ByVal Flags As UInteger) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) only support number 0. I32 MOD\_No： slave number (start from number 0). U16 ODIndex： The index of object dictionary. U16 ODSubIndex： The sub index of object dictionary. U8 \*Data： Return the data value of specific OD. U32 DataLen： The data length of specific OD, unit is byte. U32 \*OutDatalen： Return the actual data length of specific OD, unit is byte. U32 Timeout： The maximum waiting time to get data from slave, unit is ms. U32 Flags： reserve to 0. # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```c I32 ret; I32 Board_ID = 0; I32 BUS_No = 0; I32 MOD_No = 0; U16 ODIndex = 0x60fd; U16 ODSubIndex = 0; U8 Data = 0; U32 DataLen = 4; U32 OutDatalen = 0; U32 Timeout = 5000; U32 Flags = 0; ret= APS_get_field_bus_sdo( Board_ID, BUS_No, MOD_No, ODIndex, ODSubIndex, &Data, DataLen, &OutDatalen, Timeout, Flags ); ``` ```txt if( ret == ERR_NoError ) { printf("The OD data value = %d \ n",Data); } ``` See also： # APS\_set\_field\_bus\_sdo Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： Use this function to set OD data to specific slave by SDO method. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_field\_bus\_sdo( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, U16 ODIndex, U16 ODSubIndex, U8 \*Data, U32 DataLen, U32 Timeout, U32 Flags ); Visual Basic： APS\_set\_field\_bus\_sdo (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal ODIndex As UShort, ByVal ODSubIndex As UShort, ByRef Data As Byte, ByVal DataLen As UInteger, ByVal Timeout As UInteger, ByVal Flags As UInteger) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) only support number 0. I32 MOD\_No： slave number (start from number 0). U16 ODIndex： The index of object dictionary. U16 ODSubIndex： The sub index of object dictionary. U8 \*Dta： The data value of specific OD. U32 DataLen： The data length of specific OD, unit is byte. U32 Timeout： The maximum waiting time to get data from slave, unit is ms. U32 Flags： reserve to 0. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 BUS\_No = 0; I32 MOD\_No= 0; U16 ODIndex = 0x60fe; U16 ODSubIndex = 1; U8 Data = 256; ```txt U32 DataLen = 4; U32 Timeout = 5000; U32 Flags = 0; ret= APS_set_field_bus_sdo( Board_ID, BUS_No, MOD_No, ODIndex, ODSubIndex, &Data, DataLen, Timeout, Flags ); ``` ```c if( ret == ERR_NoError ) { printf("Set OD data to slave successful \ n"); } ``` See also： # APS\_set\_field\_bus\_od\_data Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to set EtherCAT OD data in PDO by operates specific slave device. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_field\_bus\_od\_data( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 SubMOD\_No, I32 ODIndex, U32 RawData ); Visual Basic： APS\_set\_field\_bus\_od\_data (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal SubMOD\_No As Long, ByVal ODIndex As Long, ByVal RawData As UInteger) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) only support number 0. I32 MOD\_No： The number ID of slave. I32 SubMOD\_No：The sub module in one slave. I32 ODIndex： The EtherCAT OD data index. U32 RawData： The EtherCAT OD data # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 BUS\_No = 0; I32 MOD\_No = 0; I32 SubMOD\_No = 0; I32 ODIndex = 0; U32 ODValue = 2048; ret = APS\_set\_field\_bus\_od\_data(Board\_ID, BUS\_No, MOD\_No, SubMOD\_No,ODIndex, ODValue); # See also： # APS\_get\_field\_bus\_od\_data Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to get EtherCAT OD data in PDO by operates specific slave device. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_field\_bus\_od\_data( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 SubMOD\_No, I32 ODIndex, U32 \*RawData ); Visual Basic： APS\_get\_field\_bus\_od\_data (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal SubMOD\_No As Long, ByVal ODIndex As Long, ByRef RawData As UInteger) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) only support number 0. I32 MOD\_No： The number ID of slave. I32 SubMOD\_No： The sub module in one slave. I32 ODIndex： The EtherCAT OD data index. U32 \*RawData： Return the EtherCAT OD data # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt I32 ret; I32 Board_ID = 0; I32 BUS_No = 0; I32 MOD_No = 0; I32 SubMOD_No = 0; I32 ODIndex = 0; U32 RawData ; ``` ```c ret = APS_get_field_bus_od_data( Board_ID, BUS_No, MOD_No, SubMOD_No, ODIndex, &RawData ); if( ret == ERR_NoError ) { ``` ```solidity printf("OD value is = %d \n", RawData); } ``` See also： # APS\_get\_field\_bus\_od\_module\_info Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to get EtherCAT slave information such as vendorID、product code and module ID. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_field\_bus\_od\_module\_info( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, PEC\_Sub\_MODULE\_INFO Sub\_Module\_info ); Visual Basic： APS\_get\_field\_bus\_od\_module\_info (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByRef Sub\_Module\_info As EC\_Sub\_MODULE\_INFO) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) only support number 0. I32 MOD\_No： The number ID of slave.The define of struct EC\_Sub\_MODULE\_INFO as follows： I32 VendorID： The vendor ID number of slave I32 ProductCode：The ProductCode number of slave I32 RevisionNo： The RevisionNo number of slave I32 TotalSubModuleNum：The maximum sub module number of slave I32 SubModuleID[32]：The ID number array of sub module # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt 132 ret; ``` ```txt 132 Board_ID = 0; ``` ```txt I32 BUS_No = 0; ``` ```txt 132 MOD_No = 0; ``` ```txt EC_Sub_MODULE_INFO Sub_Module_info; ``` ```javascript 132 i = 0; ``` ```txt ret = APS_get_field_bus_od_module_info( Board_ID, BUS_No, MOD_No, &Sub_Module_info ); ``` ```txt if( ret == ERR_NoError ) ``` ```txt { for (i = 0; i < Sub_Module_info.TotalSubModuleNum; i++) { if (Sub_Module_info.SubModuleID[i] != 0) printf("SubModuleID is = 0x%x \ n", Sub_Module_info.SubModuleID[i]); } } ``` See also： # APS\_get\_field\_bus\_module\_map Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT, PCIe-8364RS # Descriptions： This function is used to get total mapped Slave ID when using manual ID mode. Figure 1 is an example to illustrate slave ID representation in auto mode and manual ID mode. First, user can use APS\_get\_field\_bus\_last\_scan\_info0 to get how manyslaves exists in EtherCAT network now.Here it is assumed 40 slaves are used. Second, user will get an actual mapped slave ID array by this function. In this array, the array index denotes the slave ID in auto mode and the array value denotes the slave ID in manual ID mode. For example, if user's array MOD\_No\_Arr get MOD\_No\_Arr[0] = 100, MOD\_No\_Arr[1] = 200, ... and MOD\_No\_Arr[39] = 4000 by this function, it shows the array index 0, 1, ... 39 are slave ID in auto mode, and the array value 1 00, 200, ... 4000 are slave ID in manual ID mode. ![The diagram depicts a hierarchical structure centered around a network connection.\n\n**Top Component:**\n* A block labeled **'PCIe-8338'**.\n* A double-headed arrow connects this block downwards to the top of a large dashed rectangular box.\n\n**The Network:**\n* The dashed box is labeled on the right side as **'EtherCAT network'**.\n* Inside this box is a vertical stack of blocks labeled as slaves on the left.\n\n**Slaves and Connections:**\n* **Slave 1**: The top block inside the network. It contains the text:\n * '(1)Auto mode slave ID = 0'\n * '(2)Manual ID mode Slave ID = 100'\n* A double-headed arrow connects **Slave 1** to **Slave 2**.\n* **Slave 2**: The second block down. It contains the text:\n * '(1)Auto mode slave ID = 1'\n * '(2)Manual ID mode Slave ID = 200'\n* A double-headed arrow connects **Slave 2** to the bottom block, separated by vertical ellipses ('...').\n* **Slave 40**: The bottom block. It contains the text:\n * '(1)Auto mode slave ID = 39'\n * '(2)Manual ID mode Slave ID = 4000'](.aps-functionlibrary-v2-1/85d26015e0be6ad9b24ac3f41dd9a5af8dfed4ddbd54259644b354ae26aeece6.jpg) Figure 1 Representation of slave IDs in auto mode and manual ID mode There are two ways can be used to get manual slave ID value back. 1. Reading the value from Configured Station Alias register. 2. Reading the value from AL Control procedure.( Mostly used to get the setting value of ID-selector. E.g. Rotary- or DIP-switch) Users can assign board parameter PRB\_MANUAL\_SLAVE\_ID\_SRC\_1ST\_GROUP and PRB\_MANUAL\_SLAVE\_ID\_SRC\_2ND\_GROUP value to define the source of manual slave ID. For example： If user have four slaves as below <table>Slave NO(Auto ID)The value of SII from Configured Sataion AliasThe value of ID-Selector from AL Control procedure.010011120022230033340044 If board parameter PRB\_MANUAL\_SLAVE\_ID\_SRC\_1ST\_GROUP setting value is 0x0000, the API get back value will be as below：
Slave NO(Auto ID)Manual slave ID
0100
1200
2300
3400
If setting value is 0x0005, the API get back value will be as below：
Slave NO(Auto ID)Manual slave ID
011
1200
233
3400
# Syntax： C/C++： I32 APS\_get\_field\_bus\_module\_map( I32 Board\_ID, I32 BUS\_No, U32 \*MOD\_No\_Arr, U32 Size ); Visual Basic： APS\_get\_field\_bus\_module\_map(ByVal Board\_ID As Long, ByVal BUS\_No As Long, MOD\_No\_Arr As Int, ByVal Size As Int); # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) only support number 0. U32\* MOD\_No\_Arr： Mapped slave ID array in manual ID mode U32 Size： Total slaves exist in EtherCAT network # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```c I32 ret; I32 Board_ID = 0; I32 BUS_No = 0; U32 * MOD_No_Arr = NULL; U32 Size = 0; //if total slave number are 5, Size = 5; MOD_No_Arr = (U32 *) malloc( sizeof(U32) * Size ); ret = APS_get_field_bus_module_map ( Board_ID, BUS_No, MOD_No_Arr, Size ); ``` See also： ```cmake APS_get_field_bus_last_scan_info() ``` # APS\_set\_field\_bus\_module\_map Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to set mapped slave ID in manual slave ID mode. The setting value will be set by master in the SII Configured Station Alias, and the slave needs a power cycle to load the new value. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_field\_bus\_module\_map ( I32 Board\_ID, I32 BUS\_No, U32\* MOD\_No\_Arr, U32 Size); Visual Basic： APS\_set\_field\_bus\_module\_map (ByVal Board\_ID As Long, ByVal Bus\_No As Long, ByVal MOD\_No\_Arr() As UInteger, ByVal Size As UInteger) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) only support number 0. U32 \*MOD\_No\_Arr： Mapped slave ID array in manual slave ID mode. U32 Size： Total slave number exists in field bus network. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 BUS\_No = 0; U32 \* MOD\_No\_Arr = NULL; U32 Size = 0; //if total slave number are 5, Size = 5; MOD\_No\_Arr = (U32 \*) malloc( sizeof(U32) \* Size ); MOD\_No\_Arr[0] = 111; // first slave of topology manual ID is 111 MOD\_No\_Arr[1] = 222; // second slave of topology manual ID is 222 MOD\_No\_Arr[2] = 333; // third slave of topology manual ID is 333 MOD\_No\_Arr[3] = 444; // fourth slave of topology manual ID is 444 MOD\_No\_Arr[4] = 555; // fifth slave of topology manual ID is 555 ret = APS\_set\_field\_bus\_module\_map ( Board\_ID, BUS\_No, MOD\_No\_Arr, Size ); See also： # APS\_get\_field\_bus\_slave\_state Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT, PCIe-8364RS # Descriptions： This function is used to get the status of slave's state machine. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_field\_bus\_slave\_state (I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 \*State); ```txt Visual Basic : ``` APS\_get\_field\_bus\_slave\_state (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByRef State As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) only support number 0. I32 MOD\_No： The number ID of slave. I32 \*State： the status of slave's state machine. For PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT
valueState define
3EC_STATE_INIT
4EC_STATE_PREOP
5EC_STATE_SAFEOP
6EC_STATE_OP
For PCIe-8364RS
valueState define
1Online
3Offline
# Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 BUS\_No = 0; I32 MOD\_No = 0; I32 State = 0; ret = APS\_get\_field\_bus\_slave\_state (Board\_ID,BUS\_No,MOD\_No, &State); // Please refer APS\_set\_field\_bus\_slave\_state of state table. See also： APS\_set\_field\_bus\_slave\_state() # APS\_set\_field\_bus\_slave\_state Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to set the status of slave's state machine. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_field\_bus\_slave\_state( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 State); ```txt Visual Basic : ``` APS\_set\_field\_bus\_slave\_state (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal State As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) only support number 0. I32 MOD\_No： The number ID of slave. I32 State： The status of slave's state machine.
valueState define
3EC_STATE_INIT
4EC_STATE_PREOP
5EC_STATE_SAFEOP
6EC_STATE_OP
# Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 BUS\_No = 0; I32 MOD\_No = 0; I32 State = 0 ; State = 5 ; //Safe Op mode ret = APS\_set\_field\_bus\_slave\_state ( Board\_ID, BUS\_No, MOD\_No, State); # See also： # APS\_get\_field\_bus\_ESC\_register Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to get EtherCAT slave controller(ESC) register. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_field\_bus\_ESC\_register( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 RegOffset, I32 DataSize, I32 \*DataValue ); Visual Basic： APS\_get\_field\_bus\_ESC\_register (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal RegOffset As Long, ByVal DataSize As Long, ByRef DataValue As UInteger) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number (Port number) that only supports number 0. I32 MOD\_No： The number ID of slave. I32 RegOffset： The address offset of ESC register. I32 DataSize： The length of ESC register, unit is byte. Its range should be between 1 and 8 bytes. I32 \*DataValue： Get ESC data buffer. If range is over 4 bytes, need two dimension I32 array to operate. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 BUS\_No = 0; I32 MOD\_No = 0; I32 RegOffset = 0x920; I32 DataSize = 8; I32 GetDataValue[2]; ret = APS\_get\_field\_bus\_ESC\_register (Board\_ID, BUS\_No, MOD\_No, RegOffset, DataSize, &GetDataValue); # See also： APS\_set\_field\_bus\_ESC\_register() # APS\_set\_field\_bus\_ESC\_register Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to set EtherCAT slave controller(ESC) register. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_field\_bus\_ESC\_Register( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 RegOffset, I32 DataSize, I32 \*DataValue ); Visual Basic： APS\_set\_field\_bus\_ESC\_register (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal RegOffset As Long, ByVal DataSize As Long, ByRef DataValue As UInteger) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number (Port number) that only supports number 0. I32 MOD\_No： The number ID of slave. I32 RegOffset： The address offset of ESC register. I32 DataSize： The length of ESC register, unit is byte. It's range should be between 1 and 8 bytes. I32 \*DataValue： Get ESC data buffer. If range is over 4 bytes, need two dimension I32 array to operate. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Board\_ID = 0; I32 BUS\_No = 0; I32 MOD\_No = 0; I32 RegOffset = 0x300; I32 DataSize = 1; I32 DataValue = 0; ret = APS\_set\_field\_bus\_ESC\_register (Board\_ID, BUS\_No, MOD\_No, RegOffset, DataSize, &DataValue); # See also： APS\_get\_field\_bus\_ESC\_register () # APS\_get\_system\_loading Support Products： PCIe-833x, PCIe-8364RS # Descriptions： This function is used to get system loop loading. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_system\_loading(I32 Board\_ID, F64\* Loading1, F64\* Loading2, F64\* Loading3, F64\* Loading4); Visual Basic： APS\_get\_system\_loading (ByVal Board\_ID As Long, ByRef Loading1 As Double, ByRef Loading2 As Double, ByRef Loading3 As Double, ByRef Loading4 As Double) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). F64\* Loading1： Calculate PCIe-8334/8 motion loop cosume time loading, unit is %. F64\* Loading2： Calculate PCIe-8334/8 EtherCAT loop cosume time loading, unit is %. F64\* Loading3： Reserve. F64\* Loading4： Reserve. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; F64 motion\_loading; F64 ECAT\_loading; F64 no\_data1, no\_data2; ret = APS\_get\_system\_loading (Board\_ID, &motion\_loading, &ECAT\_loading, &no\_data1, &no\_data2); # See also： # APS\_get\_field\_bus\_analysis\_topology Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to analysis current and past slave topology when APS\_start\_filed\_bus API retrun -4013 or – 4043 error. The analysis condition includes vendor ID, product code, revision number and sub-module ID with slave. If topology chanes between scan file bus and start field bus process, API will return error slave number for user reference. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_field\_bus\_analysis\_topology( I32 Board\_ID, I32 BUS\_No, I32 \*Error\_Slave\_No,PEC\_MODULE\_INFO Current\_slave\_info,I32 \*Current\_slave\_num,PEC\_MODULE\_INFO Past\_slave\_info,I32 \* Past\_slave\_num); Visual Basic： APS\_get\_field\_bus\_analysis\_topology (ByVal Board\_ID As Long, ByVal Bus\_No As Long, ByRef Error\_Slave\_No As Long, ByRef Current\_slave\_info As EC\_Sub\_MODULE\_INFO, ByRef Current\_slave\_num As Long, ByRef Past\_slave\_info As EC\_Sub\_MODULE\_INFO, ByRef Past\_slave\_num As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number (Port number) that only supports number 0. I32\* Error\_Slave\_No： Error slave number with auto slave ID mode.If Error\_Slave\_No = 0, there is no error, past slaves and current slaves are the same. If return 1, the current slave 1 is different from past slave 1. If return 5, the current slave 5 is different from past slave 5. PEC\_MODULE\_INFO Current\_slave\_info ： Structure of slave information with current topology. For detail of the members parameters as below： I32 VendorID： The vender ID number of slave. I32 ProductCode： The product code of slave. I32 RevisionNo： The revision number of slave. I32 TotalAxisNum： Reserved. I32 Axis\_ID[64]： Reserved. I32 Axis\_ID\_manual[64]： Reserved. I32 All\_ModuleType[32]： The sub module ID by sequence. I32 DI\_ModuleNum： Reserved. I32 DI\_ModuleType[32]： Reserved. I32 DO\_ModuleNum： Reserved. I32 DO\_ModuleType[32]： Reserved. I32 AI\_ModuleNum： Reserved. I32 AI\_ModuleType[32]： Reserved. I32 AO\_ModuleNum： Reserved. I32 AO\_ModuleType[32]： Reserved. Char Name[128]： Reserved. I32 \*Current\_slave\_num ： Slave numbers of current topology. PEC\_MODULE\_INFO Past\_slave\_info ： Structure of slave information with past topology. I32 \* Past\_slave\_num ： Slave numbers of past topology. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 BoardID = 0; I32 BusNo = 0 ; I32 Error\_Slave\_No = 0; I32 Current\_slave\_num =0 ; I32 Past\_slave\_num =0; EC\_MODULE\_INFO Current\_slave\_info[64] = {0}; EC\_MODULE\_INFO Past\_slave\_info[64] = {0}; ret = APS\_get\_field\_bus\_analysis\_topology( BoardID,BusNo, &Error\_Slave\_No,Current\_slave\_info,&Current\_slave\_num,Past\_slave\_info,&Past\_slave\_num); # See also： # APS\_get\_field\_bus\_loss\_package Support Products： PCIe-833x # Descriptions： This function is used to get the loss of EtherCAT frame count on receive bus direction. The count behavior is shows below： ![| Time Segment | Value |\n| ------------ | ----- |\n| Start | 0 |\n| OK | Low |\n| Mid | High |\n| End | High |](.aps-functionlibrary-v2-1/9486ed66340f629ef730be5c671757256036d58873958f14efbaeacc3fa3ef60.jpg) If system detect frame losing that the frame loss count will increase one by every EtherCAT loop timing. The frame loss count will decrese until zero when system getting frame normally. # Syntax： C/C++： I32 FNTYPE APS\_get\_field\_bus\_loss\_package (I32 Board\_ID, I32 BUS\_No,I32 \*Loss\_Count); Visual Basic： APS\_get\_field\_bus\_loss\_package (ByVal Board\_ID As Integer, ByVal BUS\_No As Integer, ByRef Loss\_Count As Integer) As Integer # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number (Port number) that only supports number 0. I32 \*Loss\_Count： The count value of package loss. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 BoardID = 0; I32 BusNo = 0; I32 lossCount = 0; ```c ret = APS_get_field_bus_loss_package( Board_ID, BusNo, & lossCount ); // Stop X, Y and Z moving when loss package count bigger than 10. if( lossCount >= 10 ) { ret = APS_emg_stop( X ); ret = APS_emg_stop( Y ); ret = APS_emg_stop( Z ); } ``` See also： # APS\_set\_drive\_input\_mapping Support Products： PCIe-8364RS # Descriptions： This function is used to send the configuration CSV file of drive input mapping, which created by MCPro2.exe. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_drive\_input\_mapping(I32 Board\_ID, I32 BUS\_No, const char\* pFilePath, I32 option); ```txt Visual Basic : ``` APS\_set\_drive\_input\_mapping (ByVal Board\_ID As Integer, ByVal Bus\_No As Integer, ByVal pFilePath As String, ByVal \_option As Integer) As Integer # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. I32 BUS\_No： The index of field bus (only support index 0). const char\* pFilePath： Specify the path of the configuration CSV file for drive input mapping, which created by MCPro2.exe. Note： the configuration file is located in APS installation path＼PCIe-8364RS＼ DriveInputMap＼PCIe-8364RSCardNo(x)IOMapping.csv I32 option： Reserved. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt ret = APS_set_drive_input_mapping(boardId, 0, "C:\\Program Files (x86)\\ADLINK\\PCIe-8364RS\\ProfiNet\\DriveInputMap\\PCIe-8364RSCardNo(0)IOMapping.csv", 0); ``` See also： # APS\_set\_trigger\_output\_mapping Support Products： PCIe-8364RS # Descriptions： This function is used to send the configuration CSV file of trigger output mapping, which created by MCPro2.exe. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_trigger\_output\_mapping(I32 Board\_ID, I32 BUS\_No, const char\* pFilePath, I32 option); ```txt Visual Basic : ``` APS\_set\_trigger\_output\_mapping Lib "APS168.dll" (ByVal Board\_ID As Integer, ByVal Bus\_No As Integer, ByVal pFilePath As String, ByVal \_option As Integer) As Integer # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. I32 BUS\_No： The index of field bus (only support index 0). const char\* pFilePath： Specify the path of the configuration CSV file for trigger output mapping, which created by MCPro2.exe. Note： the configuration file is located in APS installation path＼PCIe-8364RS＼ TriggerOutputMap＼ PCIe-8364RSCardNo(x)TrgIOMapping.csv I32 option： Reserved. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt ret = APS_set_trigger_output_mapping(boardId, 0, "C:\\Program Files (x86)\\ADLINK\\PCIe-8364RS\\ProfiNet\\DriveInputMap\\PCIe-8364RSCardNo(0)TrgIOMapping.csv", 0); ``` # See also： # 17.Gear / Gantry functions # APS\_set\_gantry\_param Support Products： PCI-8253/56, PCI-8392(H) # Descriptions： This function is used to set parameters to a specified gantry group. The parameter number and the corresponding parameter data, please refer to the Gantry parameters table. # Syntax： C/C++： I32 FNTYPE APS\_set\_gantry\_param( I32 Board\_ID, I32 GroupNum, I32 ParaNum, I32 ParaDat ); Visual Basic： APS\_set\_gantry\_param( ByVal Board\_ID As Long, ByVal GroupNum As Long, ByVal ParaNum As Long, I32 ParaDat As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 GroupNum： Specified a gantry group number. I32 ParaNum： Parameter number. Please refer to Gantry parameters table. I32 ParaDat： Parameter data. Please refer to Gantry parameters table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; //return error code. I32 boardId = 0; # See also： APS\_get\_gantry\_param();APS\_set\_gantry\_axis();APS\_get\_gantry\_axis() # APS\_get\_gantry\_param Support Products： PCI-8253/56, PCI-8392(H) # Descriptions： This function is used to get parameters from a specified gantry group. The parameter number and the corresponding parameter data, please refer to the Gantry parameters table. # Syntax： C/C++： I32 FNTYPE APS\_get\_gantry\_param( I32 Board\_ID, I32 GroupNum, I32 ParaNum, I32 \*ParaDat ); Visual Basic： APS\_get\_gantry\_param( ByVal Board\_ID As Long, ByVal GroupNum As Long, ByVal ParaNum As Long, ParaDat As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 GroupNum： Specified a gantry group number. I32 ParaNum： Specified a parameter number. Please refer to Gantry parameters table. I32 \*ParaDat： Return a parameter data. Please refer to Gantry parameters table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; //return error code. I32 boardId = 0; # See also： APS\_set\_gantry\_param(); APS\_set\_gantry\_axis();APS\_get\_gantry\_axis() # APS\_set\_gantry\_axis Support Products： PCI-8253/56, PCI-8392(H) # Descriptions： This function is used to specify any two axes into a gantry group. Once the gantry mode of this group is enabled, those two axes will have gantry behavior. You can’t change gantry axis setting when gantry mode is enabled. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_gantry\_axis( I32 Board\_ID, I32 GroupNum, I32 Master\_Axis\_ID, I32 Slave\_Axis\_ID ); Visual Basic： APS\_set\_gantry\_axis(ByValBoard\_ID As Long, ByVal GroupNum As Long, ByVal Master\_Axis\_ID As Long, ByVal Slave\_Axis\_ID As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 GroupNum： Specified a gantry group number. The maximum group number refers to specification. I32 Master\_Axis\_ID： Specified an axis ID as a gantry master axis. I32 Slave\_Axis\_ID： Specified an axis ID as a gantry slave axis. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; //return error code. I32 boardId = 0; I32 GroupNum = 0; I32 Master\_Axis\_ID = 0, Slave\_Axis\_ID = 1; //Gantry mode muse be disable before you set the gantry axes. Ret = APS\_set\_gantry\_axis(Board\_ID, GroupNum, Master\_Axis\_ID, Slave\_Axis\_ID ); if( ret != ERR\_NoError ) //…check error code. Ret = APS\_get\_gantry\_axis(Board\_ID, GroupNum, &Master\_Axis\_ID, &Slave\_Axis\_ID ); if( ret != ERR\_NoError ) //…check error code. See also： APS\_get\_gantry\_axis(); APS\_set\_gantry\_param(); APS\_get\_gantry\_param() # APS\_get\_gantry\_axis Support Products： PCI-8253/56, PCI-8392(H) # Descriptions： This function is used to get gantry master axis ID and slave axis ID in a specify gantry group. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_gantry\_axis( I32 Board\_ID, I32 GroupNum, I32 \*Master\_Axis\_ID, I32 \*Slave\_Axis\_ID ); ```txt Visual Basic : ``` APS\_get\_gantry\_axis(ByVal Board\_ID As Long, ByVal GroupNum As Long, Master\_Axis\_ID As Long, ```txt Slave_Axis_ID As Long ) As Long ``` # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 GroupNum： Specified a gantry group number. I32 \*Master\_Axis\_ID： Return the master axis ID in a specify gantry group. I32 \*Slave\_Axis\_ID： Return the slave axis ID in a specify gantry group. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt I32 ret; //return error code. I32 boardId = 0; I32 GroupNum = 0; I32 Master_Axis_ID = 0, Slave_Axis_ID = 1; ``` //Gantry mode muse be disable before you set the gantry axes. Ret = APS\_set\_gantry\_axis(Board\_ID, GroupNum, Master\_Axis\_ID, Slave\_Axis\_ID ); ```txt if( ret != ERR_NoError ) ``` //…check error code. Ret = APS\_get\_gantry\_axis(Board\_ID, GroupNum, &Master\_Axis\_ID, &Slave\_Axis\_ID ); ```txt if( ret != ERR_NoError ) ``` //…check error code. See also： APS\_set\_gantry\_axis(); APS\_set\_gantry\_param(); APS\_get\_gantry\_param() # APS\_get\_gantry\_error Support Products： PCI-8253/56, PCI-8392(H) # Descriptions： This function is used to get gantry axes deviation error. Deviation error = Master axis feedback position – Slave axis feedback position # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_gantry\_error( I32 Board\_ID, I32 GroupNum, I32 \*GentryError ); Visual Basic： APS\_get\_gantry\_error (ByVal Board\_ID As Long, ByVal GroupNum As Long, GentryError As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 GroupNum： Specified a gantry group number. I32 \*GentryError： Return gantry axes deviation error. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```javascript 132 ret; //return error code. 132 boardId = 0; 132 GroupNum = 0; 132 GentryError; ``` ret = APS\_get\_gantry\_error(boardId, GroupNum, &GentryError ); ```txt if( ret == ERR_NoError) // Display GantryError ``` # See also： APS\_set\_gantry\_axis(); APS\_set\_gantry\_param(); APS\_get\_gantry\_param() # APS\_get\_encoder Support Products： PCI-8253/56 # Descriptions： This function is used to get encoder counter of one axis. The counter is in unit of pulse. Generally speaking, it is used for compensation of gantry home return. # Syntax： C/C++： I32 FNTYPE APS\_get\_encoder( I32 Axis\_ID, I32 \*Encoder ); Visual Basic： APS\_get\_encoder(ByVal Axis\_ID As Long, Encoder As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \*Encoder： Encoder counter. Unit in pulse. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Encoder; APS\_get\_encoder(Axis\_ID, &Encoder ); //Get encoder counter. …// # See also： APS\_ get\_latch\_event(); APS\_get\_latch\_counter() # APS\_get\_latch\_event Support Products： PCI-8253/56 # Descriptions： This function is used to get latch event. There are two sources including Ez and Org signal latch. If a latch is occurring, the event turns on. User could clear the latch event by invoking APS\_get\_latch\_counter(). Generally speaking, it is used for compensation of gantry home return. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_latch\_event( I32 Axis\_ID, I32 Src, I32 \*Event ); Visual Basic： APS\_get\_latch\_event(ByVal Axis\_ID As Long, ByVal Src As Long, Event As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Src： Specify a latch source. 0： Ez latch, 1： Org latch. I32 \*Event： latch event. 0： No any latch occurred. 1： A latch occurred. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Event, latchCounter; I32 SrcOrg = 1; //Specify Org ```rust APS_get_latch_event(Axis_ID, SrcOrg, &Event); //Get ORG latch event If( Event == 1 ) //ORG is latched { //Reset latch event & Read latch counter APS_get_latch_counter(Axis_ID, SrcOrg, &latchCounter); } ``` # See also： APS\_get\_latch\_counter(); APS\_get\_encoder() # APS\_get\_latch\_counter Support Products： PCI-8253/56 # Descriptions： This function is used to get latch counter. There are two sources including Ez and Org signal latch. If a latch is occurring, the event turns on and the encoder counter is latched. User could get latch counter and reset (turn off) the event by invoking this function. Generally speaking, it is used for compensation of gantry home return. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_latch\_counter( I32 Axis\_ID, I32 Src, I32 \*Counter ); Visual Basic： APS\_get\_latch\_counter( ByVal Axis\_ID As Long, ByVal Src As Long, Counter As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Src： Specify a latch source. 0： Ez latch, 1： Org latch. I32 \*Counter： Latch counter. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Event, latchCounter; I32 SrcOrg = 1; //Specify Org ```c APS_get_latch_event(Axis_ID, SrcOrg, &Event); //Get ORG latch event If( Event == 1 ) //ORG is latched { //Reset latch event & Read latch counter APS_get_latch_counter(Axis_ID, SrcOrg, &latchCounter); } ``` See also： APS\_set\_latch\_event(); APS\_get\_encoder() # APS\_start\_gear Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to enable a specified gear mode. Two gear modes, including stardard and gantry, are available for specified application. # Syntax： C/C++： I32 FNTYPE APS\_start\_gear (I32 Axis\_ID, I32 Mode); Visual Basic： APS\_start\_gear (ByVal Axis\_ID As Long, ByVal Mode As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Mode： Gear mode. 0： Disable, 1： Standard mode, 2： Gantry mode. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： …// APS\_start\_gear(Axis\_ID, 0); //Disable gear. …// APS\_start\_gear(Axis\_ID, 1); //Enable a standard gear mode. # See also： APS\_get\_gear\_status() # APS\_get\_gear\_status Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to get status of gear applicaiton. # Syntax： C/C++： I32 FNTYPE APS\_get\_gear\_status( I32 Axis\_ID, I32 \*Status ); Visual Basic： APS\_get\_gear\_status(ByVal Axis\_ID As Long, Status As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \*Status： Gear status. 0： In disabling status. 1： In enabling status of standard mode. 2： In enabling status of gantry mode. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Status; APS\_get\_gear\_status(Axis\_ID, &Status ); //Get Gear status …// # See also： APS\_start\_gear() # APS\_get\_gantry\_number Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS Descriptions： This function is used to get the total number of this master's corresponding slaves in gantry mode.User need to use axis parameters PRA\_EGEAR\_MASTER (0x65) and PRA\_EGEAR\_SOURCE (0x66) and APS\_set\_axis\_param() function to specify master and corresponding slaves and use APS\_start\_gear() to enable gantry mode. Then user can use these functions APS\_get\_gantry\_number() to get total number of slaves and APS\_get\_gantry\_info() to get slave axis ID array. Syntax： C/C++： I32 APS\_get\_gantry\_number(I32 MasterAxisID, I32 \*SlaveAxisIDSize ); Visual Basic： APS\_get\_gantry\_number(ByVal MasterAxisID As Long, SlaveAxisIDSize As Long) As Long Parameters： I32 MasterAxisID： Master axis ID; The Axis ID is from 0 to 65535. I32\* SlaveAxisIDSize： Total number of this master's corresponding slaves Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： See also： APS\_get\_gantry\_info() # APS\_get\_gantry\_info Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to get slave axis ID array in gantry mode. Please refer the description of APS\_get\_gantry\_number() for details. # Syntax： C/C++： I32 APS\_get\_gantry\_info (I32 MasterAxisID, I32 SlaveAxisIDSize, I32 \*SlaveAxisIDArray ); Visual Basic： APS\_get\_gantry\_info (ByVal MasterAxisID As Long, ByVal SlaveAxisIDSize As Long, SlaveAxisIDArray As Long ) As Long # Parameters： I32 MasterAxisID： Master axis ID; The Axis ID is from 0 to 65535. I32 SlaveAxisIDSize： Total number of slaves I32\* SlaveAxisIDArray： Slave axis ID array # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： # See also： APS\_get\_gantry\_number() # APS\_get\_gantry\_deviation Support Products： PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, PCIe-8364RS # Descriptions： This function is used to get position deviation between master and slaves. This function is implemented in ASYNC mode. # Syntax： C/C++： I32 APS\_get\_gantry\_deviation (I32 MasterAxisID, I32 SlaveAxisIDSize, I32 \*SlaveAxisIDArray, F64 \*DeviationArray ); Visual Basic： APS\_get\_gantry\_deviation (ByVal MasterAxisID As Long, ByVal SlaveAxisIDSize As Long, SlaveAxisIDArray As Long, DeviationArray As Long ) As Long # Parameters： I32 MasterAxisID： Master axis ID; The Axis ID is from 0 to 65535. I32 SlaveAxisIDSize： Total number of slaves I32\* SlaveAxisIDArray： Slave axis ID array F64\* DeviationArray： Position deviation array between master and slave # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： See also： # 18.Compare trigger # APS\_set\_trigger\_param Support Products： PCI-8253/56,PCI-C154(+), PCI-8154/8158(DB-8150), EMX-100, PCI-8254/58 / AMP-204/8C,AMP-304C, PCIe-8364RS # Descriptions： This function is used to set comparing trigger related parameters. All definitions of trigger parameters are described in trigger parameter table. You can also get parameter setting using “APS\_get\_trigger\_param()” function. # Syntax： C/C++： I32 FNTYPE APS\_set\_trigger\_param( I32 Board\_ID, I32 Param\_No, I32 Param\_Val ); Visual Basic： APS\_set\_trigger\_param(ByVal Board\_ID As Long, ByVal Param\_No As Long, ByVal Param\_Val As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Param\_No： Parameter number. Refer to trigger parameter table. I32 Param\_Val： Parameter value. Refer to trigger parameter table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example1： Refer to example of “APS\_set\_trigger\_linear”, “APS\_set\_trigger\_table” # Example2： Below example is for EMX-100 I32 BoardId = 0; APS\_set\_trigger\_param(BoardId, TGR0\_CMP\_ENC, 0 ); // Set axis 0 to compare command position # Example3： Below example is for PCI-8254/58 / AMP-204/8C I32 BoardId = 0; APS\_set\_trigger\_param(BoardId, 0x0, 0 ); //Set linear compare source See also： APS\_get\_trigger\_param() # APS\_get\_trigger\_param Support Products： PCI-8253/56,PCI-C154(+), PCI-8154/8158(DB-8150), EMX-100 , PCI-8254/58 / AMP-204/8C,AMP-304C, PCIe-8364RS # Descriptions： This function is used to get comparing trigger related parameters. All definitions of trigger parameters are described in trigger parameter table. You can also set parameter using “APS\_set\_trigger\_param()” function. # Syntax： C/C++： I32 FNTYPE APS\_get\_trigger\_param( I32 Board\_ID, I32 Param\_No, I32 \*Param\_Val ); Visual Basic： APS\_get\_trigger\_param(ByVal Board\_ID As Long, ByVal Param\_No As Long, Param\_Val As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Param\_No： Parameter number. Refer to trigger parameter table. I32 Param\_Val： Return parameter value. Refer to trigger parameter table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example1： Below example is for EMX-100 I32 BoardId = 0; I32 Param\_Val = 0; APS\_get\_trigger\_param(BoardId, TGR0\_CMP\_ENC, &Param\_Val ); # Example2： Below example is for PCI-8254/58 / AMP-204/8C I32 BoardId = 0; I32 Param\_Val = 0; APS\_get\_trigger\_param(BoardId, 0x0, &Param\_Val ); //Get linear compare source See also： APS\_set\_trigger\_param() # APS\_set\_trigger\_linear Support Products： PCI-8253/56,PCI-C154(+), PCI-8154/8158(DB-8150) , PCI-8254/58 / AMP-204/8C, AMP-304C, PCIe-8364RS # Descriptions： This function is used to set linear comparing function. When the linear trigger operation is completed, the total compared point will be： Total compared point number = RepeatTimes. ( StartPoint as first trigger point) # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_trigger\_linear( I32 Board\_ID, I32 LCmpCh, I32 StartPoint, I32 RepeatTimes, I32 Interval );Visual Basic： APS\_set\_trigger\_linear(ByVal Board\_ID As Long, ByVal LCmpCh As Long, ByVal StartPoint As Long, ByVal RepeatTimes As Long, ByVal Interval As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 LCmpCh： Linear compare set channel. Zero base. For PCI-8254/58 / AMP-204/8C, I32 LCmpCh： Linear compare set channel. Zero base. Range is from 0 to 3. I32 StartPoint： Start linear trigger point. I32 RepeatTimes： Trigger repeat times. I32 Interval： Trigger interval. For PCI-8253/56, Interval： 24bit unsigned value. For PCI-8254/58 / AMP-204/8C, I32 Interval： Trigger interval. ( -16777215 \~ 16777215, unit is pulse ) # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt 132 BoardId = 0; ``` APS\_set\_trigger\_param(BoardId, 0x0, 0 ); //Set linear compare source APS\_set\_trigger\_param(BoardId, 0x10, 0 ); //Set LCMP0 as TRG0’s source APS\_set\_trigger\_linear(BoardId, 0, 100, 49999, 10 ); //Set LCMP0 linear compare algorithm. // Start point = 100, RepeatTimes = 49999, Interval = 10. APS\_set\_trigger\_param(BoardId, 0x04, 1 ); //Enable LCMP0 // Trigger operation. APS\_set\_trigger\_param( 0, 0x04, 0 ); //Disable LCMP0 For AMP-304C ```txt ret = APS_set_trigger_param(boardID, TGR_LCMP0_SRC, 0); //set linear comparator 0 source to be counter 0 ret = APS_set_trigger_param(boardID, TGR_TRGO_SRC, 1<<4); //Enable Bit 4 : LCMP0 as TRGO source ret = APS_set_trigger_param(boardID, TGR_TRGO_TGL, 0); //0 : pulse, 1 : toggle ret = APS_set_trigger_param(boardID, TGR_TRGO_PWD, 1000); //set TRGO pulse width 1000*8ns = 8000ns ret = APS_set_board_param(boardID, PRB_GPDO_SEL_C0, 1); //set DO0 as trigger output ret = APS_set_trigger_param(boardID, TGR_TRGO_MAP, 1); //set DO0 as trigger output pin ret = APS_set_trigger_param(boardID, TGR_TRG_EN, 1); //start TRGO ret = APS_set_trigger_linear(boardID, cmpIndex, 300, 10, 500); //start linear compare ``` # See also： APS\_set\_trigger\_table() # APS\_set\_trigger\_table Support Products： PCI-8253/56 , PCI-8254/58 / AMP-204/8C, PCIe-8364RS # Descriptions： This function is used to configure the specified comparing table. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_trigger\_table( I32 Board\_ID, I32 TCmpCh, I32 \*DataArr, I32 ArraySize ); ```txt Visual Basic : ``` APS\_set\_trigger\_table( ByVal Board\_ID As Long, ByVal TCmpCh As Long, DataArr As Long, ByVal ArraySize As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TCmpCh： Specified comparing table number. Zero base. For PCI-8253/56, there two comparing table. For PCI-8254/58 / AMP-204/8C, I32 TCmpCh： Specified comparing table number. Zero base. Range is from 0 to 3. I32 \*DataArr： Comparing data array. I32 ArraySize The size of comparing data array. Please refer to product’s specification. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： #define POINTS 1000 I32 ret; I32 data[POINTS]; I32 i; for( i = 0; i < POINTS; i++ ) data[i] = 10 + (C) \* 10; APS\_set\_trigger\_param(BoardId, 0x2, 0 ); //Set encoder counter 0 as TCMP0’s source. APS\_set\_trigger\_param(BoardId, 0x10, 4 ); //Set TCMP0 as TRG0’s source ret = APS\_set\_trigger\_table( 0, 0, data, POINTS ); APS\_set\_trigger\_param(BoardId, 0x06, 1 ); //Enable TCMP0 // Trigger operation… //When finish the trigger operation. APS\_set\_trigger\_param(BoardId, 0x06, 0 ); //Enable TCMP0 See also： APS\_set\_trigger\_linear() # APS\_set\_trigger\_manual Support Products： PCI-8253/56,PCI-C154(+), PCI-8154/8158(DB-8150) , PCI-8254/58 / AMP-204/8C, AMP-304C, PCIe-8364RS # Descriptions： This function is used to forced output a trigger at specified trigger output channel. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_trigger\_manual( I32 Board\_ID, I32 TrgCh ); Visual Basic： APS\_set\_trigger\_manual( ByVal Board\_ID As Long, ByVal TrgCh As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TrgCh： Trigger output channel (TRG) number. Zero based. For PCI-8254/58 / AMP-204/8C, I32 TrgCh： Trigger output channel (TRG) number. Zero based. Range is from 0 to 3. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Board\_ID = 0; I32 ret; ret = APS\_set\_trigger\_manual( Board\_ID, 1); //TRG1 # See also： APS\_set\_trigger\_manual\_s() # APS\_set\_trigger\_manual\_s Support Products： PCI-8253/56/58A/PCI-C154(+), PCI-8254/58 / AMP-204/8C, AMP-304C, PCIe-8364RS # Descriptions： This function is used to forced to output a trigger pulse. It is designed to output one or more channels of trigger synchronously and manually. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_trigger\_manual\_s( I32 Board\_ID, I32 TrgChInBit ); Visual Basic： APS\_set\_trigger\_manual\_s( ByValBoard\_ID As Long, ByValTrgChInBit As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; ret = APS\_set\_trigger\_manual\_s( 0, 0xF ); //4 channels output trigger simultaneously. Ret = APS\_set\_trigger\_manual\_s( 0, 0x2 ); //TRG1 outputs trigger. Ret = APS\_set\_trigger\_manual\_s( 0, 0x3 ); //TRG0 and TRG1 output trigger simultaneously. ```txt //... ``` # See also： APS\_set\_trigger\_manual() # APS\_get\_trigger\_table\_cmp Support Products： PCI-8253/56 , PCI-8254/58 / AMP-204/8C, AMP-304C, PCIe-8364RS # Descriptions： This function is used to get current comparing value in the specified table comparator. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_trigger\_table\_cmp( I32 Board\_ID, I32 TCmpCh, I32 \*CmpVal ); Visual Basic： APS\_get\_trigger\_table\_cmp(ByVal Board\_ID As Long, ByVal TCmpCh As Long, CmpVal As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TCmpCh： Specified the table comparator channel number. Zero base. For PCI-8254/58 / AMP-204/8C, I32 TCmpCh： Specified the table comparator channel number. Zero base. Range is from 0 to 3. I32 \*CmpVal： Return the current comparing value in the comparator. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 CmpVal; ret = APS\_get\_trigger\_table\_cmp ( 0, 0, &CmpVal ); If( ret != ERR\_NoError ) { // Error, show message. } # See also： APS\_get\_trigger\_linear\_cmp() # APS\_get\_trigger\_linear\_cmp Support Products： PCI-8253/56,PCI-C154(+), PCI-8154/8158(DB-8150) , PCI-8254/58 / AMP-204/8C, AMP-304C, PCIe-8364RS # Descriptions： This function is used to get current comparing value in the specified linear comparator. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_trigger\_linear\_cmp( I32 Board\_ID, I32 LCmpCh, I32 \*CmpVal ); Visual Basic： APS\_get\_trigger\_linear\_cmp(ByVal Board\_ID As Long, ByVal LCmpCh As Long, CmpVal As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 LCmpCh： Specified the linear comparator channel number. Zero base. For PCI-8254/58 / AMP-204/8C, I32 LCmpCh： Specified the linear comparator channel number. Zero base. Range is from 0 to 3. I32 \*CmpVal： Return the current comparing value in the comparator. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 CmpVal; ret = APS\_get\_trigger\_linear\_cmp( 0, 0, &CmpVal ); If( ret != ERR\_NoError ) { // Error, show message. } # See also： APS\_get\_trigger\_table\_cmp() # APS\_get\_trigger\_count Support Products： PCI-8253/56, PCI-C154(+), PCI-8154/8158(DB-8150), EMX-100 , PCI-8254/58 / AMP-204/8C, AMP-304C, PCIe-8364RS # Descriptions： This function is used to get the triggered counter value. This value means total triggered pulses from last counter reset. It is useful to check compared times. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_trigger\_count( I32 Board\_ID, I32 TrgCh, I32 \*TrgCnt ); Visual Basic： APS\_get\_trigger\_count(ByVal Board\_ID As Long, ByVal TrgCh As Long, TrgCnt As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TrgCh： Specified trigger output counter channel number. Zero base. For PCI-8254/58 / AMP-204/8C, I32 TrgCh： Specified trigger output counter channel number. Zero base. Range is from 0 to 3. For EMX-100： I32 TrgCh： Specified trigger output counter channel number (0 or 1) of device. I32 \*TrgCnt： Return trigger counter value. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Ret; I32 TrgCnt; Ret = APS\_get\_trigger\_count( 0, 0, &TrgCnt ); If( ret != ERR\_NoError ) { // Error, show message. } # See also： APS\_reset\_trigger\_count() # APS\_reset\_trigger\_count Support Products： PCI-8253/56,PCI-C154(+), PCI-8154/8158(DB-8150), EMX-100 , PCI-8254/58 / AMP-204/8C,AMP-304C, PCIe-8364RS # Descriptions： This function is used to reset the triggered counter to zero. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_reset\_trigger\_count( I32 Board\_ID, I32 TrgCh ); Visual Basic： APS\_reset\_trigger\_count( ByVal Board\_ID As Long, ByVal TrgCh As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TrgCh： Trigger counter channel number. Zero based. For EMX-100： I32 TrgCh： Trigger counter channel number(0 or 1) of device. For PCI-8254/58 / AMP-204/8C, I32 TrgCh： Trigger counter channel number. Zero based. Range is from 0 to 3. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; ret = APS\_reset\_trigger\_count( 0, 0 ); ret = APS\_reset\_trigger\_count( 0, 1 ); ret = APS\_reset\_trigger\_count( 0, 2 ); ret = APS\_reset\_trigger\_count( 0, 3 ); # See also： APS\_get\_trigger\_count() # APS\_enable\_trigger\_fifo\_cmp Support Products： PCI-C154(+), PCI-8154/8158(DB-8150) , PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to enable/disable fifo comparator. When user disable the fifo comparator , the fifo data will be reset. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_enable\_trigger\_fifo\_cmp( I32 Board\_ID, I32 FCmpCh, I32 Enable ); Visual Basic： APS\_enable\_trigger\_fifo\_cmp (ByVal Board\_ID As Long, ByVal FCmpCh As Long, ByVal Enable As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 FCmpCh： The specified channel number. (Only support channel 0 in DB-8150) I32 Enable： Enable/Disable fifo comparator. 0： Disable fifo comparator 1： Enable fifo comparator Note： Before start FIFO comparing,user must enable fifo comparator first. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Board\_ID = 0; I32 FCmpCh = 0; I32 Enable = 1 // Enable fifo comparator. I32 ret = 0; I32 DataArr[3]={1000,2000,3000}; I32 ArraySize=3; I32 ShiftFlag = 1; //Auto shift one data to FIFO comparator ret = APS\_set\_trigger\_fifo\_data(Board\_ID, FCmpCh, DataArr, ArraySize, ShiftFlag ); ret = APS\_enable\_trigger\_fifo\_cmp(Board\_ID, FCmpCh, Enable ); # See also： # APS\_get\_trigger\_fifo\_cmp Support Products： PCI-C154(+), PCI-8154/8158(DB-8150) # Descriptions： This function is used to get the current comparing data from FIFO comparator. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_trigger\_fifo\_cmp( I32 Board\_ID, I32 FCmpCh, I32 \*CmpVal ); Visual Basic： APS\_get\_trigger\_fifo\_cmp (ByVal Board\_ID As Long, ByVal FCmpCh As Long, \*CmpVal As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 FCmpCh： The specified channel number. (Only support channel 0 in DB-8150) I32 \*CmpVal： The current comparing data in comparator. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt I32 Board_ID = 0; I32 FCmpCh = 0; I32 CmpVal = 0 I32 ret = 0; ret = APS_get_trigger_fifo_cmp(Board_ID, FCmpCh, &CmpVal); ``` # See also： # APS\_get\_trigger\_fifo\_status Support Products： PCI-C154(+), PCI-8154/8158(DB-8150) # Descriptions： Get the current status of fifo data. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_trigger\_fifo\_status( I32 Board\_ID, I32 FCmpCh, I32 \*FifoSts ); Visual Basic： APS\_get\_trigger\_fifo\_status (ByVal Board\_ID As Long, ByVal FCmpCh As Long, FifoSts As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 FCmpCh： The specified channel number. (Only support channel 0 in DB-8150) I32 \* FifoSts： The current status of fifo data. Bit0=0： not empty , Bit0=1： empty Bit1=0： not full , Bit1=1; full Bit2=0： equal or greater than the preset level, Bit2=1： below the preset level Other bits be reserved # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Board\_ID = 0; I32 FCmpCh = 0; I32 FifoSts = 0 I32 ret = 0; ret = APS\_get\_trigger\_fifo\_status(Board\_ID, FCmpCh, & FifoSts); # See also： # APS\_set\_trigger\_fifo\_data Support Products： PCI-C154(+), PCI-8154/8158(DB-8150) # Descriptions： This function is used to set comparing data array to the FIFO. The capacity of FIFO is 2097151. When the status of FIFO is full, the data cannot be set into FIFO. This function won’t check the FIFO status. When using this function, you should also enable fifo comparator by“APS\_enable\_trigger\_fifo\_cmp” function. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_trigger\_fifo\_data( I32 Board\_ID, I32 FCmpCh, I32 \*DataArr, I32 ArraySize, I32 ShiftFlag ); Visual Basic： APS\_set\_trigger\_fifo\_data (ByVal Board\_ID As Long, ByVal FCmpCh As Long, DataArr As Long, ByVal ArraySize As Long, ByVal ShiftFlag As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 FCmpCh： The specified channel number. (Only support channel 0 in DB-8150) I32 \*DataArr ： The index pointer of FIFO’s data array. I32 ArraySize ： The size of FIFO data array. (1 – 1026) I32 ShiftFlag ： Auto shift one FIFO data to comparator. 0： Disable auto shift one FIFO data to comparator. 1： Enable auto shift one FIFO data to comparator. Note： Before start FIFO comparing, user must enable auto shift one FIFO data to comparator first. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Board\_ID = 0; I32 FCmpCh = 0; I32 DataArr ={1000,2000,3000} I32 ArraySize = 3; I32 Enable = 1; // Start FIFO comparing I32 ret = 0; I32 ShiftFlag = 1; // Enable auto shift one data to FIFO comparator ret = APS\_set\_trigger\_fifo\_data(Board\_ID, FCmpCh, DataArr, ArraySize, ShiftFlag ); ret = APS\_enable\_trigger\_fifo\_cmp(Board\_ID, FCmpCh, Enable ); Note ： Please do set trigger fifo data first then enable fifo comparator ,the comparator will trigger interrupt normally. See also： # APS\_start\_timer Support Products： PCI-C154(+), PCI-8154/8158(DB-8150) # Descriptions： In PCI-C154(+), this function is used to Start / Stop timer 8. The timer 8 is used to simulate for encoder, that is used to be comparator source. # Syntax： C/C++： 32 FNTYPE APS\_start\_timer( I32 Board\_ID, I32 TrgCh, I32 Start ); Visual Basic： APS\_start\_timer (ByVal Board\_ID As Long, ByVal TrgCh As Long, ByVal Start As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TrgCh： The specified channel number. ( In PCI-C154(+)： only support CH0 ) I32 Start： start/stop timer 0： stop timer 1： start timer # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Board\_ID = 0; I32 TrgCh = 0; I32 Start = 1 // start timer I32 ret = 0; ret = APS\_start\_timer(Board\_ID, TrgCh, Start ); # See also： # APS\_get\_timer\_counter Support Products： PCI-C154(+), PCI-8254/58 / AMP-204/8C, AMP-304C, PCIe-8364RS # Descriptions： This function is used to get the timer counter value. In PCI-C154(+), this function is used to get timer 8 count value. The timer 8 is used to simulate for encoder, that is used to be comparator source. # Syntax： C/C++： I32 FNTYPE APS\_get\_timer\_counter (I32 Board\_ID, I32 TmrCh, I32 \*Cnt); Visual Basic： APS\_get\_timer\_counter( ByVal Board\_ID As Long, ByVal TmrCh As Long, Cnt As Long )As Long # Parameters： For PCI-C154(+)： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TmrCh： The specified channel number. (In C154(+)： only support CH0 ) I32 \*Cnt： Get timer count value. For PCI-8254/58 / AMP-204/8C： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TmrCh： Specified timer channel number. Zero base. Only channel 0 is available. I32 \*TmrCnt： Return timer counter value. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example1： Below example is for PCI-C154(+) I32 ret = 0; I32 Board\_ID = 0; I32 TmrCh = 0; I32 Cnt = 0; ret = APS\_get\_timer\_counter ( Board\_ID, TmrCh, &Cnt ); Example2： ```txt Below example is for PCI-8254/58 / AMP-204/8C I32 Ret; I32 TmrCnt; Ret = APS_get_timer_counter( 0, 0, &TmrCnt ); //Get counter from timer channel 0 If( ret != ERR_NoError ) { // Error, show message. } ``` See also： ```cmake APS_set_timer_counter() ``` # APS\_set\_timer\_counter Support Products： PCI-C154(+), PCI-8254/58 / AMP-204/8C, AMP-304C, PCIe-8364RS # Descriptions： This function is used to set timer counter. For PCI-C154(+), this function is used to set timer 8 count value. The timer 8 is used to simulate for encoder, that is used to be comparator source. # Syntax： C/C++： I32 FNTYPE APS\_set\_timer\_counter ( I32 Board\_ID, I32 TmrCh, I32 Cnt ); Visual Basic： APS\_set\_timer\_counter( ByVal Board\_ID As Long, ByVal TmrCh As Long, ByVal Cnt As Long )As Long # Parameters： For PCI-C154(+)： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TmrCh： The specified channel number. (In PCI-C154(+)： only support CH0) I32 Cnt： Set timer count value. For PCI-8254/58 / AMP-204/8C： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TmrCh： Timer counter channel number. Zero based. Only one channel is available in PCI-8258. I32 TmrCnt： Specify timer counter value. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example1： Below example is for PCI-C154(+) I32 ret = 0; I32 Board\_ID = 0; I32 TmrCh = 0; I32 Cnt = 0; ret = APS\_set\_timer\_counter ( Board\_ID, TmrCh, Cnt ); # Example2： Below example is for PCI-8254/58 / AMP-204/8C I32 ret; //set timer counter channel 0 to 100 ret = APS\_set\_timer\_counter( 0, 0, 100 ); # See also： APS\_get\_timer\_counter() # APS\_start\_trigger\_timer Support Products： PCI-C154(+) # Descriptions： This function is used to start/stop timers that generate trigger signal periodically # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_start\_trigger\_timer ( I32 Board\_ID, I32 TrgCh, I32 Start ); Visual Basic： APS\_start\_trigger\_timer ( ByVal Board\_ID As Long, ByVal TrgCh As Long, ByVal Start As Long )As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TrgCh： The specified channel number. In PCI-C154(+)： Support CH0 \~ CH3 I32 Start： Start=1; Start timer Start=0; Stop timer # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt 132 ret = 0; ``` ```txt I32 Board_ID = 0; ``` ```javascript I32 TrgCh = 0; ``` ```txt I32 Start = 1; // Start timer ``` ```txt ret = APS_set_timer_counter (Board_ID, TrgCh, Start); ``` ```txt ...... ``` ```txt Start = 0; // Stop timer ``` ```txt ret = APS_set_timer_counter (Board_ID, TrgCh, Start); ``` # See also： APS\_get\_trigger\_timer\_counter() # APS\_get\_trigger\_timer\_counter Support Products： PCI-C154(+) # Descriptions： This function is used to get trigger timer count value that generate trigger signal periodically. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_trigger\_timer\_counter ( I32 Board\_ID, I32 TmrCh, I32 \*TmrCnt ); Visual Basic： APS\_get\_trigger\_timer\_counter ( ByVal Board\_ID As Long, ByVal TmrCh As Long, TmrCnt As Long )As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TmrCh： The specified channel number. In PCI-C154(+)： Support CH0 \~ CH3 ) I32 \*TmrCnt： Get trigger timer count value. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```javascript 132 ret=0; ``` ```txt 132 Board_ID = 0; ``` ```txt 132 TmrCh = 0; ``` ```javascript 132 TmrCnt=0; ``` ret = APS\_get\_trigger\_timer\_counter ( Board\_ID, TmrCh, &TmrCnt ); # See also： APS\_start\_trigger\_timer() # APS\_set\_multi\_trigger\_table Support Products： PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to push data in table (FIFO) for comparing. There are four comparators designed for multidimension comparing application. The comparing points are pushed in the queue initially. User can use trigger parameter to select comparator source from encoder 0\~7. Specify arbitrary trigger channel to generate PWM is allowed. Once the point is compared, the specified trigger channel will generate one PWM signal and its corresponding counter will add 1 simultaneously. ![Based on the provided image, here is the description of the flowchart:\n\n**Left Section:**\n* A large vertical block labeled **Queue** on the far left. An arrow extends from it to the right, feeding into the next section.\n\n**Middle-Left Section (Comparison Inputs):**\n* Four blocks arranged vertically: **MCMP0**, **MCMP1**, **MCMP2**, and **MCMP3**.\n* Each block receives input from the **Queue** block.\n* Above each MCMP block is a gray source block with an arrow pointing downward into it:\n * **TGR_MCMP0_SRC** points to **MCMP0**.\n * **TGR_MCMP1_SRC** points to **MCMP1**.\n * **TGR_MCMP2_SRC** points to **MCMP2**.\n * **TGR_MCMP3_SRC** points to **MCMP3**.\n* Arrows extending from the right side of these blocks feed into the central block.\n\n**Center Section:**\n* A single block labeled **Compare** receives inputs from the MCMP section.\n\n**Right Section (Trigger Outputs):**\n* A single arrow extends from **Compare** to the right, splitting into a vertical connection that inputs into four blocks arranged vertically: **Trigger output0**, **Trigger output1**, **Trigger output2**, and **Trigger output3**.\n* Above each trigger block is a gray source block with an arrow pointing downward into it:\n * **TGR_TRG0_SRC** points to **Trigger output0**.\n * **TGR_TRG1_SRC** points to **Trigger output1**.\n * **TGR_TRG2_SRC** points to **Trigger output2**.\n * **TGR_TRG3_SRC** points to **Trigger output3**.\n* To the right of each trigger block is an arrow pointing to a square wave signal symbol.](.aps-functionlibrary-v2-1/e1c068fb4e4fb7df216da303d9d6f55fce951b2bc5cfae39e7d198a369d6b834.jpg) Comparator Configuration： <table>DimensionConfiguration2Select source in trigger parameter TGR_MCMP0_SRC / TGR_MCMP1_SRC3Select source in trigger parameter TGR_MCMP0_SRC / TGR_MCMP1_SRC / TGR_MCMP2_SRC4Select source in trigger parameter TGR_MCMP0_SRC / TGR_MCMP1_SRC / TGR_MCMP2_SRC / TGR_MCMP3_SRC Trigger Output Configuration
ChannelConfiguration
0Set bit 6 in trigger parameter TGR_TRG0_SRC
1Set bit 6 in trigger parameter TGR_TRG1_SRC
2Set bit 6 in trigger parameter TGR_TRG2_SRC
3Set bit 6 in trigger parameter TGR_TRG3_SRC
Syntax： ```c C/C++ : I32 FNTYPE APS_set_multi_trigger_table( I32 Board_ID, I32 Dimension, MCMP_POINT *Point, I32 PointSize, I32 Window ); Visual Basic : APS_set_multi_trigger_table(ByVal Board_ID As Long, ByVal Dimension As Long, ByVal DataArr() As MCMP_POINT, ByVal ArraySize As Long, ByVal Window As Long) As Long ``` Parameters： ```txt I32 Board_ID : ID of the target controller. It's retrieved by successful call to APS_initial(). I32 Dimention : 2~4 dimension MCMP_POINT *Point : Point array used for comparator. See description below for details. ``` ```c // Multi-dimension comparator typedef struct { F64 axisX; // x axis data for multi-dimension comparator 0 F64 axisY; // y axis data for multi-dimension comparator 1 F64 axisZ; // z axis data for multi-dimension comparator 2 F64 axisU; // u axis data for multi-dimension comparator 3 U32 chInBit; // pwm output channel in bit format }MCMP_POINT; ``` ```txt 132 PointSize : The size of point array. 132 Window : Specify comparing range ``` Return Values： ```txt I32 Error code : Please refer to APS Functions Return Code. ``` Example： ```txt 1. void main() 2. { 3. I32 ret = 0; 4. U32 i = 0; 5. I32 BoardID_InBits; 6. I32 BoardID = 0; 7. I32 Mode = 0; //By system assigned 8. I32 msts; // Motion status 9. MCMP_POINT DataArr[10000]; ``` ```c 10. I32 data = 0; 11. U32 totalPoint = 5000; 12. U32 window = 10; 13. U32 dimension = 2; 14. I32 Axis_ID_Array[2] = {0, 1}; 15. I32 Distance_Array[2] = {1100, 2200}; 16. I32 Max_Linear_Speed = 20000; 17. MCMP_POINT Point; 18. printf(" \ n"); 19. // *************************** 20. // Initialization 21. // *************************** 22. ret = APS_initial( &BoardID_InBits, Mode); 23. if(ret) 24. { 25. printf("APS initial fail \ n"); 26. goto TEST_END; 27. } 28. printf("APS version = %d \ n", (I32)APS_version()); 29. // *************************** 30. // Set trigger parameter 31. // *************************** 32. // Set comparator source : encode 0 for comparator 0 and encoder 1 for comparator 1 33. ret = APS_set_trigger_param( BoardID, TGR_MCMP0_SRC, 0 ); 34. if(ret) 35. { 36. printf("APS_set_trigger_param fail \ n"); 37. goto TEST_END; 38. } 39. ret = APS_set_trigger_param( BoardID, TGR_MCMP1_SRC, 1 ); 40. if(ret) 41. { 42. printf("APS_set_trigger_param fail \ n"); 43. goto TEST_END; 44. } 45. 46. // Set PWM output channel 0 47. ret = APS_set_trigger_param( BoardID, TGR_TRG0_SRC, 0x40 ); ``` ```txt 48. if(ret) 49. { 50. printf("APS_set_trigger_param fail \ n"); 51. goto TEST_END; 52. } 53. 54. // Set PWM output channel 1 55. ret = APS_set_trigger_param(BoardID, TGR_TRG1_SRC, 0x40); 56. if(ret) 57. { 58. printf("APS_set_trigger_param fail \ n"); 59. goto TEST_END; 60. } 61. 62. ret = APS_set_trigger_param(BoardID, TGR_TRG_EN, 0xF); 63. ret = APS_set_trigger_param(BoardID, TGR_TRG2_SRC, 0x40); 64. ret = APS_set_trigger_param(BoardID, TGR_TRG3_SRC, 0x40); 65. 66. // Enable all trigger output channel 67. ret = APS_set_trigger_param(BoardID, TGR_TRG_EN, 0xF); 68. 69. // *************************** 70. // Reset and read trigger count 71. // *************************** 72. // Reset PWM channel 0 trigger count 73. ret = APS_reset_trigger_count(BoardID, 0); 74. ret = APS_reset_trigger_count(BoardID, 1); 75. ret = APS_reset_trigger_count(BoardID, 2); 76. ret = APS_reset_trigger_count(BoardID, 3); 77. if(ret) 78. { 79. printf("APS_reset_trigger_count fail \ n"); 80. goto TEST_END; 81. } 82. 83. // *************************** 84. // Set servo on 85. // *************************** ``` ```c 86. 87. // Set axes servo ON 88. ret = APS_set_servo_on(0, 1); 89. if(ret) 90. { 91. printf("Servo on fail \ n"); 92. goto TEST_END; 93. } 94. ret = APS_set_servo_on(1, 1); 95. if(ret) 96. { 97. printf("Servo on fail \ n"); 98. goto TEST_END; 99. } 100. 101. // Reset command 102. ret = APS_set_command(0, 0); 103. if(ret) 104. { 105. printf("APS_set_command fail \ n"); 106. goto TEST_END; 107. } 108. ret = APS_set_command(1, 0); 109. if(ret) 110. { 111. printf("APS_set_command fail \ n"); 112. goto TEST_END; 113. } 114. 115. // *************************** 116. // Set compare points 117. // *************************** 118. 119. // Prepare compare points 120. for(i=0; i<totalPoint; i++) 121. { 122. DataArr[i].axisX = i * 10 + 10; 123. DataArr[i].axisY = i * 20 + 20; ``` ```txt 124. DataArr[i].axisZ = 0; 125. DataArr[i].axisU = 0; 126. DataArr[i].chInBit = 0xF; 127. } 128. 129. // Set compare points into queue 130. ret = APS_set_multi_trigger_table( BoardID, dimension, DataArr, totalPoint, window ); 131. if(ret) 132. { 133. printf("APS_set_multi_trigger_table fail \ n"); 134. goto TEST_END; 135. } 136. 137. // Check comparator data 138. ret = APS_get_multi_trigger_table_cmp( BoardID, dimension, &Point ); 139. if(ret) 140. { 141. printf("APS_get_trigger_table_cmp fail \ n"); 142. goto TEST_END; 143. } 144. printf("Point in comparator : axisX = %f axisY = %f \ n", Point.axisX, Point.axisY ); 145. 146. // *************************** 147. // Start motor and read status 148. // *************************** 149. 150. // Start interpolation 151. ret = APS_relative_linear_move( dimension, Axis_ID_Array, Distance_Array, Max_Linear_Speed ); 152. if(ret) 153. { 154. printf("APS_relative_linear_move fail \ n"); 155. goto TEST_END; 156. } 157. 158. // Check CSTP 159. while(1) 160. { 161. F64 data1, data2; ``` ```c 162. I32 data3, data4, data6, data7; 163. U32 data5 = 0; 164. U32 data8; 165. msts = APS_motion_status(0); 166. 167. //ret = APSI_8258_read_fpga( 0, 1, 0x37c, &data5 ); 168. APS_get_trigger_count( BoardID, 0, &data3 ); 169. APS_get_trigger_count( BoardID, 1, &data4 ); 170. APS_get_trigger_count( BoardID, 2, &data6 ); 171. APS_get_trigger_count( BoardID, 3, &data7 ); 172. APS_get_position_f( 0, &data1 ); 173. APS_get_position_f( 1, &data2 ); 174. printf("fbk0 = %f fbk1 = %f cnt0 = %d cnt1 = %d cnt2 = %d cnt3 = %d ch = 0x%x \ n", data1, data2, data3, data4, data6, data7, data5); 175. if( msts & 0x1 ) 176. break; 177. Sleep(10); 178. } 179. 180. // *************************** 181. // Read final PWM count 182. // *************************** 183. // Check PWM channel 0 trigger counter 184. ret = APS_get_trigger_count( BoardID, 0, &data ); 185. if(ret) 186. { 187. printf("APS_get_trigger_count fail \ n"); 188. goto TEST_END; 189. } 190. printf("Final pwm count 0 = %d \ n", data ); 191. 192. // Check PWM channel 1 trigger counter 193. ret = APS_get_trigger_count( BoardID, 1, &data ); 194. if(ret) 195. { 196. printf("APS_get_trigger_count fail \ n"); 197. goto TEST_END; 198. } ``` ```c 199. printf("Final pwm count 1 = %d \ n", data); 200. 201. // Check PWM channel 2 trigger counter 202. ret = APS_get_trigger_count( BoardID, 2, &data ); 203. if(ret) 204. { 205. printf("APS_get_trigger_count fail \ n"); 206. goto TEST_END; 207. } 208. printf("Final pwm count 2 = %d \ n", data ); 209. 210. // Check PWM channel 3 trigger counter 211. ret = APS_get_trigger_count( BoardID, 3, &data ); 212. if(ret) 213. { 214. printf("APS_get_trigger_count fail \ n"); 215. goto TEST_END; 216. } 217. printf("Final pwm count 3 = %d \ n", data ); 218. 219. TEST_END : 220. 221. // Set axes servo off 222. ret = APS_set_servo_on( 0, 0 ); 223. ret = APS_set_servo_on( 1, 0 ); 224. ret = APS_close(); 225. system("PAUSE"); 226. } ``` # APS\_get\_multi\_trigger\_table\_cmp Support Products： PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to get current comparing value in the specified table comparator. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_trigger\_table\_cmp( I32 Board\_ID, I32 Dimension, MCMP\_POINT \*Point ); Visual Basic： APS\_get\_trigger\_table\_cmp (ByVal Board\_ID As Long, ByVal TCmpCh As Long, ByRef CmpVal As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Dimension： 2\~4 dimension MCMP\_POINT \*Point： Return the current comparing value in comparator. See type\_define.h for details. # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```c 1. I32 FreeSize = 0; 2. I32 FifoSts = 0 3. I32 Data = 0; 4. I32 DataArr[1000]; 5. U32 PowerPoint=0; 6. U32 residualPoint=0; 7. U32 totalPoint = 500; 8. 9. // Enable table compare trigger 10. ret = APS_enable_trigger_table(0, 0, 1); 11. 12. // Reset FIFO compare data 13. ret = APS_reset_trigger_table(0, 0); 14. 15. // Generate compare data 16. for(i=0; i<totalPoint; i++) 17. DataArr[i] = i * 100 + 100; ``` ```c 18. 19. while(1) 20. { 21. // Get residual data size 22. residualPoint = totalPoint - PowerPoint; 23. 24. // Get FIFO status 25. ret = APS_get_trigger_table_status( 0, 0, &FreeSize, &FifoSts ); 26. 27. // Get current FIFO compare data 28. APS_get_trigger_cmp_value( 0, 0, &Data ); 29. 30. // // Set compare data to FIFO 31. if(FreeSize >= 40) 32. { 33. if(residualPoint >= 40) 34. { 35. ret = APS_set_trigger_table_data( 0, 0, &DataArr[usedPoint], 40 ); 36. if(ret == 0) 37. PowerPoint += 40; 38. } 39. else 40. { 41. ret = APS_set_trigger_table_data( 0, 0, &DataArr[usedPoint], residualPoint ); 42. if(ret == 0) 43. PowerPoint += residualPoint; 44. } 45. } 46. else 47. { 48. if(FreeSize >= residualPoint) 49. { 50. ret = APS_set_trigger_table_data( 0, 0, &DataArr[usedPoint], residualPoint ); 51. if(ret == 0) 52. PowerPoint += residualPoint; 53. } 54. else 55. { ``` ```rust 56. ret = APS_set_trigger_table_data(0, 0, &DataArr[usedPoint], FreeSize); 57. if(ret == 0) 58. PowerPoint += FreeSize; 59. } 60. } 61. 62. // Complete set compare data to FIFO 63. if(usedPoint == totalPoint) 64. break; 65. 66. Sleep(1); 67. } ``` # APS\_set\_trigger\_table\_data Below example is for PCI-8254/58 / AMP-204/8C # Descriptions： This function is belong to fast table compare trigger function and it is used to set comparing data to comparing table. The size of comparing data is constrainted by the FIFO free size, and its maximum value is 40. # Syntax： C/C++： I32 FNTYPE APS\_set\_trigger\_table\_data( I32 Board\_ID, I32 TCmpCh, I32 \*DataArr, I32 ArraySize ); # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TCmpCh： Specified comparing table number. Zero base. Range is from 0 to 3. I32 \*DataArr： Comparing data array. I32 ArraySize The size of comparing data array. Its range is 1\~40. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： # See also： APS\_set\_trigger\_table\_data();APS\_get\_trigger\_table\_status();APS\_get\_trigger\_cmp\_value(); APS\_enable\_trigger\_table();APS\_reset\_trigger\_table() # APS\_get\_trigger\_table\_status Below example is for PCI-8254/58 / AMP-204/8C # Descriptions： This function is belong to fast table compare trigger function and it is used to get the FIFO status of table comparator. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_trigger\_table\_status( I32 Board\_ID, I32 TCmpCh, I32 \*FreeSpace, I32 \*FifoSts ); # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TCmpCh： Specified comparing table number. Zero base. Range is from 0 to 3. I32 \*FreeSpace： The free size of FIFO. The total free size is 1254. I32 \*FifoSts： The FIFO status： bit 0 = 1 indicates FIFO is full and bit 1 = 1 indicates FIFO is empty. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： # See also： APS\_set\_trigger\_table\_data();APS\_get\_trigger\_table\_status();APS\_get\_trigger\_cmp\_value(); APS\_enable\_trigger\_table();APS\_reset\_trigger\_table() # APS\_get\_trigger\_cmp\_value Below example is for PCI-8254/58 / AMP-204/8C # Descriptions： This function is belong to fast table compare trigger function and it is used to get the current comparing value of table comparator. # Syntax： C/C++： I32 FNTYPE APS\_get\_trigger\_cmp\_value( I32 Board\_ID, I32 TCmpCh, I32 \*CmpVal ); # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TCmpCh： Specified comparing table number. Zero base. Range is from 0 to 3. I32 \*CmpVal： The current coparing value of table comparator. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： # See also： APS\_set\_trigger\_table\_data();APS\_get\_trigger\_table\_status();APS\_get\_trigger\_cmp\_value(); APS\_enable\_trigger\_table();APS\_reset\_trigger\_table() # APS\_enable\_trigger\_table Below example is for PCI-8254/58 / AMP-204/8C # Descriptions： This function is belong to fast table compare trigger function and it is used to enable the table comparator. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_enable\_trigger\_table( I32 Board\_ID, I32 TCmpCh, I32 Enable ); # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TCmpCh： Specified comparing table number. Zero base. Range is from 0 to 3. I32 Enable： Set Enable = 1 to begin table comparator. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： # See also： APS\_set\_trigger\_table\_data();APS\_get\_trigger\_table\_status();APS\_get\_trigger\_cmp\_value(); APS\_enable\_trigger\_table();APS\_reset\_trigger\_table() # APS\_reset\_trigger\_table Support Products： PCI-8254/58 / AMP-204/8C # Descriptions： This function is belong to fast table compare trigger function and it used to reset the FIFO of table comparator. # Syntax： C/C++： I32 FNTYPE APS\_reset\_trigger\_table( I32 Board\_ID, I32 TCmpCh ); # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TCmpCh： Specified comparing table number. Zero base. Range is from 0 to 3. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： # See also： APS\_set\_trigger\_table\_data();APS\_get\_trigger\_table\_status();APS\_get\_trigger\_cmp\_value(); APS\_enable\_trigger\_table();APS\_reset\_trigger\_table() # APS\_set\_trigger\_table\_data\_ex Support Products： AMP-304C # Descriptions： This function is used to configure the specified comparing table. Table allow position point setting and different digital output.The comparing table would be consumed while comparing matched point. If any compare/trigger setting be changed, need to configure the specified comparing table. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_trigger\_table\_data\_ex(I32 Board\_ID, I32 TCmpCh, TCMP\_EX\_POINT\* TcmpDataArr, I32 ArraySize, I32 Option); # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TCmpCh： Specified comparing table number. Zero base. Range is from 0 to 3. TCMP\_EX\_POINT\* TcmpDataArr： Comparing data structure array. The define of TCMP\_EX\_POINT is shown below. For AMP-304C： typedef struct { I32 outputPinInBit; // Trigger output mapping F64 position\_f64; // Reserved for future use I32 position\_I32; // Compared position data }TCMP\_EX\_POINT; outputPinInBit defined by bit：
1514131211109876543210
CMP3CMP2CMP1CMP0TTLDO3TTLDO2TTLDO1TTLDO0DO7DO6DO5DO4DO3DO2DO1DO0
31302928272625242322212019181716
SD3SD2SD1SD0
I32 ArraySize： The size of comparing data and output bit array (TcmpDataArr). Its range is 1\~ unlimited or 1\~255, depend on TGR\_TCMPx\_REUSE parameter setting. If TGR\_TCMPx\_REUSE set 1 to enable reuse function, ArraySize maximum size is 255. I32 Option： 0000’b ： compare trigger output follow outputPinInBit of TcmpDataArr[0]. 0001’b ： compare trigger output follow outputPinInBit of TCMP\_EX\_POINT setting. It could set different outputPinInBit by each point. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```c TCMP_EX_POINT points[10]; for (size_t i = 0; i < 10; i++) { points[i].position_132 = (i+1) * 100; points[i].outputPinInBit = 1 << 12; //set CMP0 as output } ret = APS_set_trigger_table_data_ex(boardID, 0, points, 10, 1); //set option 1 to follow outputPinInBit setting of each compare point ``` # See also： # APS\_get\_trigger\_table\_remain\_count Support Products： AMP-304C, PCIe-8364RS # Descriptions： This function is used to get remaining counter of table comparator. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_trigger\_table\_remain\_count ( I32 Board\_ID, I32 TCmpCh, I32 \*Cnt ); # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TCmpCh： Specified the table comparator channel number. For AMP-304C, range is from 0 to 3. For PCIe-8364RS, range is from 0 to 1. I32 \*Cnt： Remaining count value. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```c 132 boardID = 0; 132 tableChannel = 0; 132 remainCount = 0; ret = APS_get_trigger_table_remain_count(boardID, tableChannel, & remainCount); printf("The remain count of table comparator is : %d \n", remainCount); ``` # See also： # APS\_get\_trigger\_linear\_remain\_count Support Products： AMP-304C, PCIe-8364RS # Descriptions： This function is used to get remaining counter of linear comparator. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_field\_bus\_linear\_cmp\_remain\_count( I32 Board\_ID, I32 LCmpCh, I32 \*Cnt ); # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 LCmpCh： Specified the table comparator channel number. For AMP-304C, range is from 0 to 3. For PCIe-8364RS, range is from 0 to 1. I32 \*Cnt： Remaining count value. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```c 132 boardID = 0; 132 linearChannel = 0; 132 remainCount = 0; ret = APS_get_trigger_linear_remain_count(boardID, linearChannel, & remainCount); printf("The remain count of linear comparator is : %d \ n", remainCount); ``` # See also： # APS\_set\_trigger\_encoder\_counter Support Products： PCI-C154(+) # Descriptions： This function is used to set trigger encoder counter. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_trigger\_encoder\_counter ( I32 Board\_ID, I32 TrgCh, I32 TrgCnt ); # Parameters： I32 Board\_ID：ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TrgCh：The specified channel number. In PCI-C154(+)： Support CH0 \~ CH3 ) I32 TrgCnt： Set trigger encoder count value. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```c I32 ret=0; I32 Board_ID = 0; I32 TrgCh = 0; I32 TrgCnt = 0; ret = APS_set_trigger_encoder_counter (Board_ID, TrgCh, TrgCnt); ``` # See also： APS\_get\_trigger\_encoder\_counter() # APS\_get\_trigger\_encoder\_counter Support Products： PCI-C154(+) # Descriptions： This function is used to get the trigger encoder counter value. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_trigger\_encoder\_counter ( I32 Board\_ID, I32 TrgCh, I32 \*TrgCnt ); # Parameters： I32 Board\_ID：ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TrgCh：The specified channel number. In PCI-C154(+)： Support CH0 \~ CH3 ) I32 \*TrgCnt： Get trigger encoder count value. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```c I32 ret=0; I32 Board_ID = 0; I32 TrgCh = 0; I32 TrgCnt = 0; ret = APS_get_trigger_encoder_counter (Board_ID, TrgCh, &TrgCnt); ``` # See also： APS\_set\_trigger\_encoder\_counter() # 19.Program download # APS\_load\_vmc\_program Support Products： PCI-8254/58 / AMP-204/8C Descriptions： This function is used to get VMC file to task memory. Notice： AMP series don’t support this function. Syntax： C/C++： I32 FNTYPE APS\_load\_vmc\_program ( I32 Board\_ID, I32 TaskNum, const char \*pFile, I32 Password); Visual Basic： APS\_load\_vmc\_program (ByVal Board\_ID As Long, ByVal TaskNum As Long, pFile As String, ByVal Password As Long) As Long Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TaskNum： Specify a task number from 0 to 7. I32 \*pFile： Specified a VMC file which created by MCPro2.exe. I32 Password： Input a specified password for security. Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： I32 ret = 0; I32 boardId = 0; I32 taskNum = 0; //Load a VMC file named “BubbleSort.txt” to specified task. ret = APS\_load\_vmc\_program( boardId, taskNum, “BubbleSort.txt”, 0 ); See also： APS\_save\_vmc\_program() # APS\_save\_vmc\_program Support Products： PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to save task program from task memory to VMC file. Notice： AMP series don’t support this function. # Syntax： C/C++： I32 FNTYPE APS\_save\_vmc\_program( I32 Board\_ID, I32 TaskNum, const char \*pFile, I32 Password); Visual Basic： APS\_save\_vmc\_program (ByVal Board\_ID As Long, ByVal TaskNum As Long, pFile As String, ByVal Password As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TaskNum： Specify a task number from 0 to 7. I32 \*pFile： Specify a VMC file to save. I32 Password： Input a specified password for security. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret = 0; I32 boardId = 0; I32 taskNum = 0; //Save task program to a VMC file named “BubbleSort.txt” . ret = APS\_save\_vmc\_program( boardId, taskNum, “BubbleSort.txt”, 0 ); # See also： APS\_load\_vmc\_program() # APS\_set\_task\_mode Support Products： PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to set task run mode. Notice： AMP series don’t support this function. # Syntax： C/C++： I32 FNTYPE APS\_set\_task\_mode( I32 Board\_ID, I32 TaskNum, U8 Mode, U16 LastIP ); Visual Basic： APS\_set\_task\_mode (ByVal Board\_ID As Long, ByVal TaskNum As Long, ByVal Mode As Byte, ByVal LastIP As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TaskNum： Specify a task number from 0 to 7. U8 Mode： Two run mode to set. 0： Normal mode. 1： Repeat mode. U16 LastIP： Last instruction offset. It is only available in repeat mode. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret = 0; I32 boardId = 0; I32 taskNum = 0; U16 lastIP = 0; //Set task 0 to normal mode. IP is igonored in normal mode. ret = APS\_set\_task\_mode ( boardId, taskNum, 0, &lastIP ); # See also： APS\_get\_task\_mode () # APS\_get\_task\_mode Support Products： PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to get task run mode. Notice： AMP series don’t support this function. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_task\_mode( I32 Board\_ID, I32 TaskNum, U8 \*Mode, U16 \*LastIP ); Visual Basic： APS\_get\_task\_mode (ByVal Board\_ID As Long, ByVal TaskNum As Long, Mode As Byte, ByVal LastIP As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TaskNum： Specify a task number from 0 to 7. U8 \*Mode： Two run mode. 0： Normal mode. 1： Repeat mode. U16 \*LastIP： Last instruction offset. It is only available in repeat mode. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret = 0; I32 boardId = 0; I32 taskNum = 0; U8 mode = 0; U16 lastIP = 0; //Get run mode from task 0. IP is igonored in normal mode. ret = APS\_get\_task\_mode ( boardId, taskNum, &mode, &lastIP); # See also： APS\_set\_task\_mode () # APS\_start\_task Support Products： PCI-8254/58 / AMP-204/8C Descriptions： This function is used to start task control command. Notice： AMP series don’t support this function. Syntax： C/C++： I32 FNTYPE APS\_start\_task( I32 Board\_ID, I32 TaskNum, I32 CtrlCmd ); Visual Basic： APS\_start\_task (ByVal Board\_ID As Long, ByVal TaskNum As Long, ByVal CtrlCmd As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TaskNum： Specify a task number from 0 to 7. I32 CtrlCmd： Control command. 0： TSK\_RESET. Reset task. (Not start Program) 1： TSK\_RESTART. Restart task. (Start program at the same time) 2： TSK\_STOP. Stop Program. 3： TSK\_RUN. Start program. 4： TSK\_STEP. Step(Run) one instrucation. Then stop. 5： TSK\_STEP\_P. Run until parallel bit == 0 # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret = 0; I32 boardId = 0; I32 taskNum = 0; I32 CtrlCmd = 3; //Run the program of task 0 ret = APS\_start\_task ( boardId, taskNum, CtrlCmd ); See also： APS\_get\_task\_info(); APS\_get\_task\_msg() # APS\_get\_task\_info Support Products： PCI-8254/58 / AMP-204/8C Descriptions： This function is used to get task information. Notice： AMP series don’t support this function. Syntax： C/C++： I32 FNTYPE APS\_get\_task\_info( I32 Board\_ID, I32 TaskNum, TSK\_INFO \*Info ); Visual Basic： APS\_get\_task\_info (ByVal Board\_ID As Long, ByVal TaskNum As Long, pFile As String, ByRef Info As TSK\_INFO) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TaskNum： Specify a task number from 0 to 7. TSK\_INFO \*Info： Task information. ```rust typedef struct _TSK_INFO { U16 State; //Task state : 0 : Stop, 1 : Run, 2 : Step, 3 : Step_p 4 : ??U16 RunTimeErr; //runtime error code when state is in ERROR state. U16 IP; //Register IP U16 SP; //Register SP U16 BP; //Register BP U16 MsgQueueSts; //Message queue status, refer to following definition } TSK_INFO, *PTSK_INFO; ``` U16 MsgQueueSts： ( Note： All tasks share only one massage queue. ) <table>BitNumStatus description0MPU_MSG_EMPTY : Message queue empty1MPU_MSG_FULL : Queue full2MPU_MSG_NOT_EMPTY3~15Reserved. 0 # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret = 0; I32 boardId = 0; I32 taskNum = 0; TSK\_INFO info; //Get information of task 0 ret = APS\_get\_task\_info( boardId, taskNum, &info ); # See also： APS\_start\_task(); APS\_get\_task\_msg() # APS\_get\_task\_msg Support Products： PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to get task message. All tasks share only one message queue. This is useful for debug. User could output some debug string to message queue. ![The diagram is a block diagram enclosed within a light blue square labeled **MPU**. Inside the box, there are yellow rectangular blocks on the left side: two at the top labeled **Task #1**, followed by a vertical dotted line, and a bottom block labeled **Task #N**. On the right side is a green cylinder labeled **Message queue**. Black arrows point from each task block toward the **Message queue**, indicating data flow. Additionally, a pink curved arrow enters the top right corner of the MPU box.](.aps-functionlibrary-v2-1/c56c3aae2e458466fb2a3ae727e6b28dd63e29302bd8b22fe8182191bcb8da4b.jpg) Notice： AMP series don’t support this function. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_task\_msg( I32 Board\_ID, U16 \*QueueSts, U16 \*ActualSize, U8 \*CharArr ); ```txt Visual Basic : ``` APS\_get\_task\_msg (ByVal Board\_ID As Long, ByRef QueueSts As UShort, ByRef ActualSize As UShort, ByRef CharArr As Byte) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). U16 \*QueueSts： Message queue status. Refer to following chart. U16 \*ActualSize： Actual return message size. [0\~128] U8 \*CharArr： Return char message. Maximum array size is 128 bytes.( U8 CharArr[ n = 128 ] ) It depends on ActualSize, if n > = ActualSize, data is meaningless and could be ignored. QueueSts definition：
BitNumStatus description
0MPU_MSG_EMPTY : Message queue empty
1MPU_MSG_FULL : Queue full
2MPU_MSG_NOT_EMPTY
3~15Reserved. 0
# Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret = 0; I32 boardId = 0; U16 queueSts = 0; U16 actualSize = 0; U8 charArr[128]; //Get message of all tasks ret = APS\_get\_task\_msg(boardId, &queueSts, actualSize, &charArr );; # See also： APS\_start\_task(); APS\_get\_task\_info() # 20.Manual Pulse Generator functions # APS\_manual\_pulser\_start Support Products： PCIe-8154/58, PCI-C154(+), PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, AMP-304C, PCIe-8364RS # Descriptions： For PCIe-8154/58, PCI-C154(+), AMP-304C, this function is used to enable/disable PA/PB input. When disabling manual pulser, the pulse signal inputted from PA/PB pin is ignored. For PCI-C154+, default setting is enabling mode. For PCI-8254/58 / AMP-204/8C , this function is used to start manual pulser operation. It supports one set PA/PB pin to connect handy manual pulse generator and decoder for single axis position control. The decoder allows the input signal type from PA and PB pins being plus and minus pulses (CW/CCW), OUT/DIR, or 90 degrees phase difference signals (AB phase) respectively. User should select correct input signal type based on the specification of handy manual pulser generator carefully. If necessary, inversing PA and PB signals or changing counting direction are also allowed. These setting can be configured by axis parameters. After issuing “enable” command, the manual pulser operation will keep waiting to receive new input signals and then move motor immediately. The bit 29 of motion status is able to indicate the manual pulser operation is enabled or disabled. Befor using this function, user should use APS\_manual\_pulser\_velocity\_move() to specify which axis and its maximum velocity. For safety consideration, this pulser operation will terminate immediately when 1. The “disable” command is issued by user. 2. The motion IO such that PEL/MEL, ALM, and EMG are triggered. For PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT and PCIe-8364RS, this function is used to start manual pulser operation. It supports one set PA/PB pin to connect handy manual pulse generator and decoder for single axis position control. The decoder allows the input signal type from PA and PB pins being plus and minus pulses (CW/CCW), OUT/DIR, or 90 degrees phase difference signals (AB phase) respectively. User should select correct input signal type based on the specification of handy manual pulser generator carefully. If necessary, inversing PA and PB signals or changing counting direction are also allowed. These setting can be configured by axis parameters. After issuing “enable” command, the manual pulser operation will keep waiting to receive new input signals and then move motor immediately. The bit 29 of motion status is able to indicate the manual pulser operation i s enabled or disabled. Befor using this function, user should use APS\_manual\_pulser\_velocity\_move() to specify which axis and its maximum velocity. For safety consideration, this pulser operation will terminate immediately when 1. The “disable” command is issued by user. 2. The motion IO such that PEL/MEL, ALM, and EMG are triggered. For PCI-8254/58 / AMP-204/8C / PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT and PCIe-8364RS, this function must disable and enable again while any one axis parameter related pulser has been modified. NOTE: Before call APS\_manual\_pulser\_start to enable pulser, pleaser make sure the the motion IO such that PEL/MEL, ALM, and EMG are all 0. Otherwise, pulser operation cannot be enabled. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_manual\_pulser\_start ( I32 Board\_ID, I32 Enable ); Visual Basic： APS\_ manual\_pulser\_start ( ByVal Board\_ID As Long, ByVal Enable As Long) As Long # Parameters： For PCIe-8154/58, PCI-C154(+), AMP-304C： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Enable： Enable/disable PA/PB input. 0： disable, 1： enable. For PCI-8254/58 / AMP-204/8C or PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial (). I32 Enable： Enable pulser operation. 1： enable manual pulser operation 0： disable manual pulser operation # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example1： Below example is for PCIe-8154/58, PCI-C154(+) I32 ret; ret = APS\_manual\_pulser\_start (0, 1 ); //enable pulser input. # Example2： Below example is for PCI-8254/58 / AMP-204/8C or PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT ret = APS\_manual\_pulser\_start( BoardID, 0 ); // Disable pulser process ```c ret = APS_set_axis_param(Axis, PRA_PSR_IPT_MODE, 2); // Set input mode : 0 : 1xAB; 2 : 4xAB ret = APS_set_axis_param(Axis, PRA_PSR_IPT_LOGIC, 0); // Set logic : 0 : InvPA = 0, InvPB = 0 ret = APS_set_axis_param(Axis, PRA_PSR_IPT_DIR, 0); // Set direction : 0 : InvPA = 0, InvPB = 0 ``` ```c ret = APS_set_axis_param_f( Axis, PRA_PSR_RATIO_VALUE, 1 ); // Set ratio ret = APS_set_axis_param_f( Axis, PRA_PSR_ACC, 123456 ); // Set acceleration ret = APS_set_axis_param_f( Axis, PRA_PSR_JERK, 12345678 ); // Set jerk ``` ```c ret = APS_manual_pulser_velocity_move( Axis, 12345 ); // Start velocity move ret = APS_manual_pulser_start( BoardID, 1 ); // Enable pulser ``` ```c // If reset pulser related parameter.... ret = APS_manual_pulser_start(BoardID, 0); // Disable pulser process ret = APS_set_axis_param_f(Axis, PRA_PSR_RATIO_VALUE, 2); // Reset ratio ret = APS_manual_pulser_start(BoarID, 1); // Re-Enable pulser process ``` # See also： APS\_manual\_pulser\_velocity\_move() # APS\_manual\_pulser\_velocity\_move Support Products： PCIe-8154/58, PCI-C154(+), PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT, AMP-304C, PCIe-8364RS # Descriptions： For PCIe-8154/58, PCI-C154(+), AMP-304C, this function is used to start a pulser velocity move. The axis will output one pulse when receiving one pulse from pulser input with default value, user can set the ratio between output and input pulse via axis parameter 164h and 165h. The axis could stop pulser function when users issue a stop move command. User could specify a limited speed to pulser function. For example, if SpeedLimit is set to be 100 pps, then the axis would move at fastest 100 pps, even the input pulser signal rate is more than 100 pps. When a pulser move function is issued, there are some situations of motion status as below： 1. When pulser function is issued, bit 29(PAPB) of motion status will turn on. It means to wait the signal from PA/PB input. 2.When continuous signal is inputted from PA/PB pin, bit 10(VS) of motion status will turn on. It means the axis output pulse according pulser input by user’s specified speed. 3.When a stop move command is issued, the axis will stop pulser function, and bit 29(PAPB) of motion status will turn off as well. For PCI-8254/58 / AMP-204/8C and PCIe-833x or ECAT-4XMO, ECAT-4XMO-MT, this function will start velocity move in manual pulser operation. # Syntax： For PCIe-8154/58, PCI-C154(+)： C/C++： I32 FNTYPE APS\_manual\_pulser\_velocity\_move( I32 Axis\_ID, F64 SpeedLimit ); Visual Basic： APS\_manual\_pulser\_velocity\_move ( ByVal Axis\_ID As Long, ByVal SpeedLimit As Double) As Long For PCI-8254/58 / AMP-204/8C： I32 FNTYPE APS\_manual\_pulser\_velocity\_move (I32 Axis\_ID, F64 MaxVelocity) APS\_manual\_pulser\_velocity\_move ( ByVal Axis\_ID As Long, ByVal MaxVelocity As Double) As Long # Parameters： For PCIe-8154/58, PCI-C154(+), AMP-304C： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 SpeedLimit： The maximum limited speed of this move profile. Unit： pulse/sec For PCI-8254/58 / AMP-204/8C or PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT： I32 Axis\_ID： Axis number 0\~7 F64 MaxVelocity： Maximum speed in manual pulser operation. It’s value should be larger than zero. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example1： Below example is for PCIe-8154/58, PCI-C154(+), AMP-304C I32 ret; ret = APS\_manual\_pulser\_start (0, 1 ); //enable pulser input. ret =APS\_manual\_pulser\_velocity\_move (Axis\_ID, 1000 ); // Begin a pulser velocity move // To stop manual pulser ret = APS\_manual\_pulser\_start( 0, 0 ); // Disable pulser ret = APS\_stop\_move(Axis\_ID); //motion status bit 29(PAPB) will be off # Example2： Below example is for PCI-8254/58 / AMP-204/8C or PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT： ret = APS\_manual\_pulser\_start( BoardID, 0 ); // Disable pulser process ret = APS\_set\_axis\_param( Axis, PRA\_PSR\_IPT\_MODE, 2 ); // Set input mode： 0： 1xAB; 2： 4xAB ret = APS\_set\_axis\_param( Axis, PRA\_PSR\_IPT\_LOGIC, 0 ); //Set logic： 0： InvPA = 0, InvPB = 0 ret = APS\_set\_axis\_param( Axis, PRA\_PSR\_IPT\_DIR, 0 ); // Set direction： 0： InvPA = 0, InvPB = 0 ret = APS\_set\_axis\_param\_f( Axis, PRA\_PSR\_RATIO\_VALUE, 1 ); // Set ratio ret = APS\_set\_axis\_param\_f( Axis, PRA\_PSR\_ACC, 123456 ); // Set acceleration ret = APS\_set\_axis\_param\_f( Axis, PRA\_PSR\_JERK, 12345678 ); // Set jerk ret = APS\_manual\_pulser\_velocity\_move( Axis, 12345 ); // Start velocity move ret = APS\_manual\_pulser\_start( BoardID, 1 ); // Enable pulser # See also： APS\_manual\_pulser\_start() # APS\_manual\_pulser\_relative\_move Support Products： PCIe-8154/58, PCI-C154(+), AMP-304C # Descriptions： This function is used to start a pulser relative move. The axis will output one pulse when receiving one pulse from pulser input with default value, user can set the ratio between output and input pulse via axis parameter 164h and 165h. The axis could stop pulser function when users issue a stop move command. User could specify a limited speed to pulser function. For example, if SpeedLimit is set to be 100 pps, then the axis would move at fastest 100 pps, even the input pulser signal rate is more than 100 pps. When a pulser move function is issued, there are some situations of motion status as below： 1. When pulser function is issued, bit 29(PAPB) of motion status will turn on. It means to wait the signal from PA/PB input. 2.When continuous signal is inputted from PA/PB pin, bit 10(VS) of motion status will turn on. It means the axis output pulse according pulser input by user’s specified speed. 3.When a stop move command is issued, the axis will stop pulser function, and bit 29(PAPB) of motion status will turn off as well. # Syntax： C/C++： I32 FNTYPE APS\_manual\_pulser\_relative\_move( I32 Axis\_ID, F64 Distance, F64 SpeedLimit ); Visual Basic： APS\_manual\_pulser\_relative\_move ( ByVal Axis\_ID As Long, ByVal Distance As Double, ByVal SpeedLimit As Double) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Distance： Relative distance. Unit is pulse. I32 SpeedLimit： The maximum limited speed of this move profile. Unit： pulse/sec. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; ret = APS\_manual\_pulser\_start (0, 1 ); //enable pulser input. ret =APS\_manual\_pulser\_relative\_move (Axis\_ID, 100, 1000 ); // Begin a pulser relative move // To stop manual pulser ret = APS\_manual\_pulser\_start( 0, 0 ); // Disable pulser ret = APS\_stop\_move(Axis\_ID); //motion status bit 29(PAPB) will be off # APS\_manual\_pulser\_home\_move Support Products： PCIe-8154/58, PCI-C154(+), AMP-304C # Descriptions： This function is used to start a pulser home move. The axis will output one pulse when receiving one pulse from pulser input with default value, user can set the ratio between output and input pulse via Axis Parameter 164h and 165h. The axis could stop pulser function when users issue a stop move command. For pulser home function, user would refer to axis parameter table to set a specified home type (166h) & home limited speed (167h). User could specify a limited speed to pulser function. For example, if SpeedLimit is set to be 100 pps, then the axis would move at fastest 100 pps, even the input pulser signal rate is more than 100 pps. When a pulser move function is issued, there are some situations of motion status as below： 1. When pulser function is issued, bit 29(PAPB) of motion status will turn on. It means to wait the signal from PA/PB input. 2. When continuous signal is inputted from PA/PB pin, bit 10(VS) of motion status will turn on. It means the axis output pulse according pulser input by user’s specified speed. # Syntax： C/C++： I32 FNTYPE APS\_manual\_pulser\_home\_move( I32 Axis\_ID ); Visual Basic： APS\_manual\_pulser\_home\_move ( ByVal Axis\_ID As Long ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; ret = APS\_manual\_pulser\_start (0, 1 ); //enable pulser input. ret =APS\_manual\_pulser\_home\_move (Axis\_ID ); // Begin a pulser home move # APS\_get\_pulser\_counter Support Products： PCI-8253/56, DPAC-1000, DPAC-3000 # Descriptions： This function is used to get the counter value of pulser. Pulser is a short term of manual pulse generator. It is a device for manually generating industrial counter pulses. The device sometime calls “hand wheel”. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_pulser\_counter( I32 Board\_ID, I32 \*Counter ); Visual Basic： APS\_get\_pulser\_counter( ByVal Board\_ID As Long, Counter As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 \*Counter： Return the value of pulser counter. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Counter; ```c ret = APS_get_pulser_counter(0, &Counter); ``` ```txt if( ret == ERR_NoError ) ``` //Show counter value. # APS\_set\_pulser\_counter Support Products： DPAC-1000, DPAC-3000 # Descriptions： For DPAC, This function is used to set input pulses counter’s numbers. # Syntax： C/C++： I32 FNTYPE APS\_set\_pulser\_counter ( I32 Board\_ID, I32 Counter); Visual Basic： APS\_set\_pulser\_counter ( ByVal Board\_ID As Long, ByVal Counter As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Counter： Input pulses counter’s numbers. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Counter; Counter = 0; //Set Input pulses counter=0 ret = APS\_set\_pulser\_counter (0, Counter ); if( ret == ERR\_NoError ) //Show counter value. # See also： APS\_get\_pls\_iptcounter() # 21.Pitch error compensation functions # APS\_set\_pitch\_table Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x # Description： Figure 1 introduces two coordinate systems in softmotion based cards： one is user coordinate, and the other is motor coordinate. Specifying arbitrary values for command position and feedback position in user coordinate are allowed here. Usually, after machine returns to its home position, both of them will be set to zero immediately. On the other hand, user is forbidden to change command counter and encoder counter in motor coordinate since they are used for servo loop control. It is noticed that the data type of these two coordinate are double and integer respectively. The process of pitch error compensation is introduced in Figure 1 now. Its input is current command position, and its output obtained from a look-up table is error compensation. The actual value of command counter will be the resultant of command position and pitch error compensation. ![**Labeled Blocks:**\n* Pitch Error Compensation (F64)\n* Command Position (F64)\n* Command Counter(I32)\n* Servo Loop Control\n* Motor\n* Feedback Position (F64)\n* Encoder Counter(I32)\n* User Coordinate\n* Motor Coordinate\n\n**Connections:**\n* An arrow extends upward from **Command Position (F64)** to **Pitch Error Compensation (F64)**.\n* An arrow extends rightward from **Command Position (F64)** to a summation node (+).\n* An arrow extends downward from **Pitch Error Compensation (F64)** to the summation node (+).\n* An arrow extends rightward from the summation node (+) to **Command Counter(I32)**.\n* An arrow extends rightward from **Command Counter(I32)** to **Servo Loop Control**.\n* A bidirectional arrow connects **Servo Loop Control** and **Motor**.\n* An arrow extends leftward from **Servo Loop Control** to **Encoder Counter(I32)**.\n* An arrow extends leftward from **Encoder Counter(I32)** to **Feedback Position (F64)**.\n* The label **User Coordinate** is positioned below **Feedback Position (F64)**.\n* The label **Motor Coordinate** is positioned below **Encoder Counter(I32)**.](.aps-functionlibrary-v2-1/7b5b77f566775a6dea73ae0705398d01ae6b8cb21b88fe23e0341a28a987e101.jpg) Figure 1 Diagram of Single Axis Coordinate Systems The pitch error compensation data is used for each compensation position at the intervals specified for each axis. The origin of compensation is the home position that the machine is returned. The compensation data is signed value and it is set with respect to home position (usually, compensation data at home position is zero). In order to perform pitch error compensation, it is also necessary to set configurations such that minimum position, interval of compensation position, and total points. A pitch error compensation table can be built successfully based on these configurations and compensation data. There are two types of compensation methods for user： constant type and linear type. After finishing all settings above, user can enable the pitch error compensation via APS function. It should be noticed that if the machine stroke exceeds the specified range on either the positive direction or the negative direction, the pitch error compensation does not apply beyond the range, so the compensation value will be zero. The unit used in pitch error compensation is pulse (count). Figure 2 is an example of pitch error compensation table. The solid line and dashed line denotes the two compensation types. User specifies minimum position, interval, and total points are 0, 100, and 5. So the maximum position will be 500. And the compensation data at each compensation position are 0, 1, 2, -1, and 1. There is no compensation if command position is outside the range from 0 to 500. After machine returns home position (command position is zero), the error compensation is also zero. ![| Command position | Constant Type | Linear Type |\n| ---------------- | ------------- | ----------- |\n| 0 | 0 | 0 |\n| 100 | 1 | 1 |\n| 180 | 2 | 2 |\n| 280 | 2 | -1 |\n| 380 | -1 | 1 |\n| 480 | 1 | 0 |](.aps-functionlibrary-v2-1/e064f87cc719cea4f118c3517191fb085383f80c977dcabeb36bc41bf460039e.jpg) Figure 2 Pitch error compensation table Table 1 shows the results of using pitch error compensation table in Figure 2. For example, if command position is set to 150.0, for constant compensation type the command counter will be 151; on the contrary, for linear compensation type, the command counter will be 152. This is due to truncation error.
Command position(F64)0.050.0100.0150.0200.0250.0300.0350.0400.0450.0500.0
Constant compensationError Compensation (F64)0.00.01.01.02.02.0-1.0-1.01.01.00.0
Command counter(I32)050101151202252299349401451500
Linear compensationError Compensation (F64)0.00.51.01.52.00.5-1.00.01.00.50.0
Command counter (I32)051101152202251299350401451500
Table 1 Results using different compensation method # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_pitch\_table( I32 Axis\_ID, I32 Comp\_Type, I32 Total\_Points, I32 MinPosition, U32 Interval, I32 ```txt *Comp_Data); ``` Visual Basic： APS\_set\_pitch\_table (ByVal Axis\_ID As Long, ByVal Comp\_Type As Long, ByVal Total\_Points As Long, ByVal MinPosition As Long, ByVal Interval As UInteger, ByVal Comp\_Data() As UInteger) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535 I32 Comp\_Type： Compensation type; 0： Constant compensation; 1： Linear compensation I32 Total\_Points： Total amounts of compensation data; Maximum value is 500. I32 MinPosition： Minimum position in pitch error compensation table U32 Interval： Interval between two compensation points in pitch error compensation table I32 \*Comp\_Data： Compensation data in pitch error compensation table # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```txt 1. void main() 2. { 3. I32 ret; // function return 4. I32 BoardID_InBits; // for initialization 5. I32 Axis_ID = 0; // axis ID 6. I32 MotionStatus; // motion status in bits 7. I32 Comp_Data[5] = {0, 1, 2, -1, 1}; // pitch error compensation data 8. I32 CommandPosition; // command position 9. I32 CommandCount; // command counter 10. I32 Comp_Type = 0; // compensation type 11. I32 Total_Points = 5; // total points 12. I32 MinPosition = 0; // minimum command position 13. U32 Interval = 100; // interval 14. I32 i; 15. ``` 16. printf("/\* Start pitch error compensation demo \*/ ＼n"); 17. 18. // Initialization 19. ret = APS\_initial( &BoardID\_InBits, 0 ); 20. if(ret) 21. { 22. printf("APS library initial fail! ＼n"); 23. goto END\_PROGRAM; 24. } 25. 26. // Set servo on 27. ret = APS\_set\_servo\_on( Axis\_ID, 1 ); 28. if(ret) 29. { 30. printf("Set servo on fail! ＼n"); 31. goto END\_PROGRAM; 32. } 33. 34. // Get current command position and command counter 35. APS\_get\_command(Axis\_ID, &CommandPosition ); 36. APS\_get\_command\_counter(Axis\_ID, &CommandCount ); 37. printf("Command position = %d Command count = %d ＼n",CommandPosition, CommandCount ); 39. // Start home process 40. printf("Return to home position... ＼n"); 41. ret = APS\_home\_move( Axis\_ID ); 42. if(ret) 43. { 44. printf("Start home fail! ＼n"); 45. goto END\_PROGRAM; 46. } 47. 48. // Check home is done 49. do{ 50. MotionStatus = APS\_motion\_status( Axis\_ID ); //Get Motion status 51. }while ( ( MotionStatus>>5 & 0x1 ) == 0 ); 52. 53. // Get command position and command counter at home position ```txt 54. APS_get_command(Axis_ID, &CommandPosition); 55. APS_get_command_counter(Axis_ID, &CommandCount); 56. printf("Command position = %d Command count = %d \n",CommandPosition, CommandCount); 57. 58. // Set pitch error compensation table 59. ret = APS_set_pitch_table( Axis_ID, Comp_Type, Total_Points, MinPosition, Interval, Comp_Data); 60. if(ret) 61. { 62. printf("Set pitch error compensation data and configuration fail! \n"); 63. goto END_PROGRAM; 64. } 65. 66. // Start pitch error compensation 67. ret = APS_start_pitch_comp( Axis_ID, 1 ); 68. if(ret) 69. { 70. printf("Start pitch error compensation fail! \n"); 71. goto END_PROGRAM; 72. } 73. 74. // Start PTP to test pitch error compensation 75. for( i=0; i<Total_Points; i++ ) 76. { 77. ret = APS_absolute_move( Axis_ID, 100+i*100, 10000 ); 78. if(ret) 79. { 80. printf("Start PTP fail! \n"); 81. goto END_PROGRAM; 82. } 83. 84. // Check PTP is done 85. do{ 86. MotionStatus = APS_motion_status( Axis_ID ); //Get Motion status 87. }while ( ( MotionStatus>>5 & 0x1 ) == 0 ); 88. 89. // Get command position and command counter 90. APS_get_command(Axis_ID, &CommandPosition ); 91. APS_get_command_counter(Axis_ID, &CommandCount ); ``` ```c 92. printf("Command position = %d Command count = %d \n",CommandPosition, CommandCount); 93. } 94. 95. // Set servo off 96. ret = APS_set_servo_on( Axis_ID, 0 ); 97. if(ret) 98. { 99. printf("Set servo off fail! \n"); 100. goto END_PROGRAM; 101. } 102. 103. // Stop pitch error compensation 104. ret = APS_start_pitch_comp( Axis_ID, 0 ); 105. if(ret) 106. { 107. printf("Stop pitch error compensation fail! \n"); 108. goto END_PROGRAM; 109. } 110. 111. END_PROGRAM : 112. printf("* Stop pitch error compensation demo */ \n"); 113. system("pause"); ``` See also： APS\_get\_pitch\_table();APS\_start\_pitch\_comp() # APS\_get\_pitch\_table Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x # Description： Get configurations and data of pitch error compensation table # Syntax： C/C++： I32 FNTYPE APS\_get\_pitch\_table( I32 Axis\_ID, I32 \*Comp\_Type, I32 \*Total\_Points, I32 \*MinPosition, U32 \*Interval, I32 \*Comp\_Data); Visual Basic： APS\_get\_pitch\_table (ByVal Axis\_ID As Long, ByRef Comp\_Type As Long, ByRef Total\_Points As Long, ByRef MinPosition As Long, ByRef Interval As UInteger, ByRef Comp\_Data As UInteger) As Long # Parameters： I32 Axis\_ID：The Axis ID from 0 to 65535 I32 \*Comp\_Type： Compensation type; 0： Constant compensation; 1： Linear compensation I32 \*Total\_Points： Amounts of compensation data I32 \*MinPosition： Minimum position in pitch error compensation table U32 \*Interval： Interval between two compensation points in pitch error compensation table I32 \*Comp\_Data： Compensation data in pitch error compensation table # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： See sample program in APS\_set\_pitch\_table # See also： APS\_set\_pitch\_table();APS\_start\_pitch\_comp() # APS\_start\_pitch\_comp Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x # Description： Start pitch error compensation table # Syntax： C/C++： I32 FNTYPE APS\_start\_pitch\_comp( I32 Axis\_ID, I32 Enable ); Visual Basic： APS\_start\_pitch\_comp (ByVal Axis\_ID As Long, ByVal Enable As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535 I32 Enable： 0： Disable error compensation： 1： Enable error compensation # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： See sample program in APS\_set\_pitch\_table # See also： APS\_set\_pitch\_table();APS\_get\_pitch\_table() # 22.DPAC System functions # APS\_rescan\_CF Support Products： DPAC-1000, DPAC-3000 # Descriptions： This function is used to rescan DPAC external slave CF slot. When system is started into Windows, the rightdown corner has an icon to manage removable devices like USB flash. If users remove DPAC’s external CF which is an USB device from the management icon, there is not possible to re-scan it by un-plug and plug CF card from external CF slot. Users must call this function to activate the re-scan. # Syntax： C/C++： I32 FNTYPE APS\_rescan\_CF ( I32 Board\_ID ); Visual Basic： APS\_rescan\_CF ( ByVal Board\_ID As Long ) As Long # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```c 132 ret; ret = APS_rescan_CF(0); if(ret != ERR_NoError) { // Error, show message. } ``` See also： # APS\_get\_battery\_status Support Products： DPAC-1000, DPAC-3000 # Descriptions： This function is used to get DPAC SRAM battery status. There is a SRAM on DPAC which is for users to store in a very fast way. The SRAM can be a non-volatile storage if the battery is installed on DPAC. Users can use this function to know the status of the battery. Notice that if there is no battery installed on DPAC, this function will return you battery high status but actually SRAM has no function for non-volatile storage. Please check the bettery exists first. # Syntax： C/C++： I32 FNTYPE APS\_get\_battery\_status( I32 Board\_ID, I32 \*Battery\_status); Visual Basic： APS\_get\_battery\_status( ByVal Board\_ID As Long, Battery\_status As Long ) As Long # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. I32 \*Battery\_status： 1： Normal, 0： Low. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Battery\_status; ret = APS\_get\_battery\_status ( 0, &Battery\_status ); if( ret == ERR\_NoError ) { //Show Battery status. } See also： # APS\_get\_display\_data Support Products： DPAC-1000, DPAC-3000 # Descriptions： This function is used to get 7-Segment LED’s data. There are five digits on DPAC LED. Each digit can display one character. If the character is a number, it can display one character and an additional dot sign too. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_display\_data( I32 Board\_ID, I32 displayDigit, I32 \*displayIndex); Visual Basic： APS\_get\_display\_data ( ByVal Board\_ID As Long, ByVal displayDigit As Long, displayIndex As Long ) As Long # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. I32 displayDigit： 7-Segment No. (1\~5) I32 \* displayIndex： Reference to DPAC display index table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 displayNum; ret = APS\_get\_display\_data( 0, 1, &displayNum ); if( ret == ERR\_NoError ) { // The displayNum variable shows digit one’s display number } # See also： APS\_set\_display\_data();DPAC diplay index table() # APS\_set\_display\_data Support Products： DPAC-1000, DPAC-3000 # Descriptions： This function is used to set 7-Segment LED’s data and display. There are five digits on DPAC LED. Each digit can display one character. If the character is a number, it can display one character and an additional dot sign too. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_display\_data( I32 Board\_ID, I32 displayDigit, I32 displayIndex); Visual Basic： APS\_set\_display\_data ( ByVal Board\_ID As Long, ByVal displayDigit As Long, ByVal displayIndex As Long ) As Long # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. I32 displayDigit： 7-Segment No. (1\~5) I32 displayIndex： Reference to displayIndex table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 displayNum; ```txt displayNum=0x01; ret = APS_set_display_data(0, 1, displayNum); // It will display '1' on first digit of LEDs if(ret != ERR_NoError) { // Error, show message. } ``` # See also： APS\_get\_display\_data() # APS\_get\_button\_status Support Products： DPAC-1000, DPAC-3000 # Descriptions： This function is used to get push button Istatus of DPAC. There are 4 buttons on DPAC. Each button is click type. That means when you release the pushing, the button will be back to its original position. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_button\_status ( I32 Board\_ID, I32 \*buttonstatus); Visual Basic： APS\_get\_button\_status ( ByVal Board\_ID As Long, buttonstatus As Long ) As Long # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. I32 \*buttonstatus： Reference to buttonstatus table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 buttonstatus; ret = APS\_get\_button\_status ( 0, &buttonstatus ); if( ret == ERR\_NoError ) ```txt { //Show button status. } Else { "check B3 ON/OFF" ``` 1) Read button status 2) To get a new button status by ‘NOT’ button status 3) Maps B3 to Bit# by “Bit#=(4 – B#)’. We get Bit1. 4) Use Bit1 (0010b) to ‘AND’ new button status 5) If the result is zero, it means B3 is not pushed. 6) If the result is non-zero, it means B3 is pushed. } See also： DPAC push button status table() # 23.Non-Volatile RAM # APS\_set\_nv\_ram Support Products： DPAC-1000, DPAC-3000, PCI-8144, PCI(e)-7856 # Descriptions： This function is used to write a value to NVRAM. NVRAM means non-volatile memory. It can store user’s data permanently even system power is off. PCI-8144 uses EEPROM as NVRAM. It ganrentee 1,000,000 times write access. # Syntax： C/C++： I32 FNTYPE APS\_set\_nv\_ram( I32 Board\_ID, I32 RamNo, I32 DataWidth, I32 Offset, I32 Data ); Visual Basic： APS\_set\_nv\_ram ( ByVal Board\_ID As Long, ByVal RamNo As Long, ByVal DataWidth As Long, ByVal Offset As Long, ByVal Data As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 RamNo： RamNo=0(DPAC,PCI(e)-7856) I32 DataWidth： 0： RW\_WIDTH\_8; 1： RW\_WIDTH\_16; 2： RW\_WIDTH\_32(PCI(e)-7856 Only) I32 Offset： The Offset from 0x0000 to 0x75FF(DPAC).; The Offset from 0x0000 to 0x7FFF(PCI(e)-7856) I32 Data： DataWidth： 0 The Data from -128 to 127.; (DPAC,PCI(e)-7856) DataWidth： 1 The Data from -32768 to 32767.; (DPAC,PCI(e)-7856) DataWidth： 2 The Data from -2147483648 to 2147483647.; (PCI(e)-7856 Only) # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I16 Data; Data=0x5168; ret = APS\_set\_nv\_ram (0, 0, 1, 0x1000,Data ); //Write RAM (offset =0x1000) value=0x5168. DataWidth： 1 ```txt if( ret != ERR_NoError ) { // Error, show message. } ``` See also： APS\_get\_nv\_ram() # APS\_get\_nv\_ram Support Products： DPAC-1000, DPAC-3000, PCI-8144, PCI(e)-7856 # Descriptions： This function is used to read a value from NVRAM. NVRAM means non-volatile memory. It can store user’s data permanently. It means even system power is off, the data is still in the memory. Next time when system is recovered, users can get the data by this function. # Syntax： C/C++： I32 FNTYPE APS\_get\_nv\_ram( I32 Board\_ID, I32 RamNo, I32 DataWidth, I32 Offset, I32 \*Data ); Visual Basic： APS\_get\_nv\_ram ( ByVal Board\_ID As Long, ByVal RamNo As Long, ByVal DataWidth As Long, ByVal Offset As Long, Data As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 RamNo： RamNo=0(DPAC,PCI(e)-7856) I32 DataWidth： 0： RW\_WIDTH\_8; 1： RW\_WIDTH\_16; 2： RW\_WIDTH\_32(PCI(e)-7856 Only) I32 Offset： The Offset from 0x0000 to 0x75FF(DPAC).; The Offset from 0x0000 to 0x7FFF(PCI(e)-7856) I32 \*Data： DataWidth： 0 The Data from -128 to 127.; (DPAC,PCI(e)-7856) DataWidth： 1 The Data from -32768 to 32767.; (DPAC,PCI(e)-7856) DataWidth： 2 The Data from -2147483648 to 2147483647.; (PCI(e)-7856 Only) # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Data; ret = APS\_get\_nv\_ram (0, 0, 1, 0x1000,&Data ); if( ret == ERR\_NoError ) //Show RAM (offset =0x1000) DataWidth： 1 value. # See also： APS\_set\_nv\_ram() # APS\_clear\_nv\_ram Support Products： DPAC-1000, DPAC-3000, PCI-8144, PCI(e)-7856 # Descriptions： This function is used to clear all values on NVRAM. NVRAM means non-volatile memory. It can store user’s data permanently even system power is off. Once this function is issued, all data stored in this memory will be clear. PCI-8144 uses EEPROM as NVRAM. It ganrentee 1,000,000 times write access. # Syntax： C/C++： I32 FNTYPE APS\_clear\_nv\_ram( I32 Board\_ID, I32 RamNo ); Visual Basic： APS\_clear\_nv\_ram ( ByVal Board\_ID As Long, ByVal RamNo As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 RamNo： RamNo=0(DPAC,PCI(e)-7856) # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```c 132 ret; ret = APS_clear_nv_ram(0, 0); //Clear RamNo=0 data if(ret != ERR_NoError) { // Error, show message. } ``` # See also： APS\_set\_nv\_ram();APS\_get\_nv\_ram();APS\_clear\_nv\_ram() # 24.Field bus compare trigger # APS\_set\_field\_bus\_trigger\_param Support Products： MNET-4XMO-C, HSL-4XMO, ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to set comparing trigger related parameters. All definitions of trigger parameters are described in trigger parameter table. You can also get parameter setting using “APS\_get\_field\_bus\_trigger\_param ()” function. # Syntax： C/C++： I32 FNTYPE APS\_set\_field\_bus\_trigger\_param( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 Param\_No, I32 Param\_Val ); Visual Basic： APS\_set\_field\_bus\_trigger\_param (ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal Param\_No As Long, ByVal Param\_Val As Long) As Long # Parameters： For MNET-4XMO-C, HSL-4XMO： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Module number. For HSL field bus, the range fo module number is 1 to 63. In HSL, the Module\_No is the first id occupied by the module. For MNET field bus, the range of module number is 0 to 63. I32 Param\_No： Parameter number. Refer to trigger parameter table. I32 Param\_Val： Parameter value. Refer to trigger parameter table. For ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (start from 0). I32 Param\_No： Parameter number. Refer to trigger parameter table. I32 Param\_Val： Parameter value. Refer to trigger parameter table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Below example is for MNET-4XMO-C, HSL-4XMO： Refer to example of “APS\_set\_field\_bus\_trigger\_linear”, “APS\_set\_field\_bus\_trigger\_table” Below example is for ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT： I32 BoardId = 0, BusNo = 0, ModNo = 0; APS\_set\_field\_bus\_trigger\_param (BoardId, BusNo, ModNo, 0x0, 0 ); //Set linear compare source # See also： APS\_get\_field\_bus\_trigger\_param() # APS\_get\_field\_bus\_trigger\_param Support Products： MNET-4XMO-C, HSL-4XMO, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4- MT # Descriptions： This function is used to get comparing trigger related parameters. All definitions of trigger parameters are described in trigger parameter table. You can also set parameter using “APS\_set\_field\_bus\_trigger\_param()” function. # Syntax： C/C++： I32 FNTYPE APS\_get\_field\_bus\_trigger\_param( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 Param\_No, I32 \*Param\_Val ); Visual Basic： APS\_get\_field\_bus\_trigger\_param(ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal Param\_No As Long, Param\_Val As Long) As Long # Parameters： For MNET-4XMO-C, HSL-4XMO： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Module number. For HSL field bus, the range of module number is 1 to 63. In HSL, the Module\_No is the first id occupied by the module. For MNET field bus, the range of module number is 0 to 63. I32 Param\_No： Parameter number. Refer to trigger parameter table. I32 Param\_Val： Return parameter value. Refer to trigger parameter table. For ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (start from 0). I32 Param\_No： Parameter number. Refer to trigger parameter table. I32 Param\_Val： Return parameter value. Refer to trigger parameter table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Below example is for ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT： I32 BoardId = 0, BusNo = 0, ModNo = 0; I32 Param\_Val = 0; APS\_get\_field\_bus\_trigger\_param (BoardId, BusNo, ModNo, 0x0, &Param\_Val ); //Get linear compare source # See also： APS\_set\_field\_bus\_trigger\_param() # APS\_set\_field\_bus\_trigger\_linear Support Products： MNET-4XMO-C, HSL-4XMO, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4- MT # Descriptions： This function is used to set linear comparing function. When the linear trigger operation is completed, the total compared point will be： For MNET-4XMO-C, Total compared point number = RepeatTimes. For ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT： Total compared point number = RepeatTimes. ( StartPoint as first trigger point)If any compare/trigger setting be changed, need to use this function again. # Syntax： C/C++： I32 FNTYPE APS\_set\_field\_bus\_trigger\_linear( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 LCmpCh, I32 StartPoint, I32 RepeatTimes, I32 Interval ); Visual Basic： APS\_set\_field\_bus\_trigger\_linear(ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal LCmpCh As Long, ByVal StartPoint As Long, ByVal RepeatTimes As Long, ByVal Interval As Long ) As Long # Parameters： For MNET-4XMO-C, HSL-4XMO： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Module number. For HSL field bus, the range of module number is 1 to 63. In HSL, the Module\_No is the first id occupied by the module. For MNET field bus, the range of module number is 0 to 63. I32 LCmpCh： Linear compare set channel. For MNET-4XMO-C, the range of LCmpCh is 0 to 4. ( LCmpCh 0\~3 is used for general comparator, and LCmpCh 4 is used for high speed comparator. ) I32 StartPoint： Start linear trigger point. I32 RepeatTimes： Trigger repeat times. For MNET\_4XMO-C, Interval： 31bit unsigned value. (Value： 1 \~ 0x7fffffff ) I32 Interval： Trigger interval. For ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (start from 0). I32 LCmpCh： Specified the linear comparator channel number. Zero base. Range is from 0 to 3. I32 StartPoint： Start linear trigger point. I32 RepeatTimes： Trigger repeat times. I32 Interval： Trigger interval. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Below example is for MNET-4XMO-C, HSL-4XMO： I32 BoardId = 0, Bus\_No = 1, Mod\_No = 0 APS\_set\_field\_bus\_trigger\_param(BoardId, Bus\_No, Mod\_No, 0x0, 1 ); //Set CMP0 as linear type APS\_set\_field\_bus\_trigger\_param(BoardId, Bus\_No, Mod\_No, 0x10, 1 ); //Set CMP0 as TRG0’s source APS\_set\_field\_bus\_trigger\_linear(BoardId, Bus\_No, Mod\_No, 0, 1000, 100000, 100 ); //Set CMP0 linear compare algorithm. // Start point = 1000, RepeatTimes = 100000, Interval = 100. APS\_set\_field\_bus\_trigger\_param(BoardId, Bus\_No, Mod\_No, 0x04, 1 ); //Enable CMP0 // Trigger operation… # //When finish the trigger operation. APS\_set\_field\_bus\_trigger\_param(BoardId, Bus\_No, Mod\_No, 0x04, 0 ); //Disable CMP0 Below example is for ECAT-4XMO, ECAT-4XMO-MT： I32 BoardId = 0, Bus\_No = 0, Mod\_No = 0 APS\_set\_field\_bus\_trigger\_param( BoardId, Bus\_No, Mod\_No, 0x0, 0 ); //Set linear compare source APS\_set\_field\_bus\_trigger\_param( BoardId, Bus\_No, Mod\_No, 0x10, 1 ); //Set LCMP0 as TRG0’s source // Set LCMP0 linear compare algorithm. Start point = 1000, RepeatTimes = 100000, Interval = 100. APS\_set\_field\_bus\_trigger\_linear(BoardId, Bus\_No, Mod\_No, 0, 1000, 100000, 100 ); Below example is for ECAT-TRG4, ECAT-TRG4-MT： I32 BoardId = 0, Bus\_No = 0, Mod\_No = 0 APS\_set\_field\_bus\_trigger\_param( BoardId, Bus\_No, Mod\_No, 0x0, 0 ); //Set linear compare source APS\_set\_field\_bus\_trigger\_param( BoardId, Bus\_No, Mod\_No, 0x10, 1 ); //Set LCMP0 as TRG0’s source APS\_set\_field\_bus\_trigger\_param( BoardId, Bus\_No, Mod\_No, 0x50, 5 ); //Set external source from which Axis ID = 5 // Set LCMP0 linear compare algorithm. Start point = 1000, RepeatTimes = 100000, Interval = 100. APS\_set\_field\_bus\_trigger\_linear(BoardId, Bus\_No, Mod\_No, 0, 1000, 100000, 100 ); See also： APS\_set\_field\_bus\_trigger\_table() # APS\_set\_field\_bus\_trigger\_table Support Products： MNET-4XMO-C, HSL-4XMO, ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to configure the specified comparing table. For ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT： The comparing table would be consumed while comparing matched point. If any compare/trigger setting be changed, need to configure the specified comparing table. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_field\_bus\_trigger\_table( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 TCmpCh, I32 \*DataArr, I32 ArraySize ); Visual Basic： APS\_set\_field\_bus\_trigger\_table( ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No, ByVal TCmpCh As Long, DataArr As Long, ByVal ArraySize As Long) As Long # Parameters： For MNET-4XMO-C, HSL-4XMO： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Module number. For HSL field bus, the range of module number is 1 to 63. In HSL, the Module\_No is the first id occupied by the module. For MNET field bus, the range of module number is 0 to 63. I32 TCmpCh： Specified comparing table number. For MNET-4XMO-C, the range of TCmpCh is 0 to 3. (TCmpCh 0\~3 is used for general comparator.) I32 \*DataArr： Comparing data array. I32 ArraySize： Size of comparing data array. For MNET-4XMO-C, the maximum size of each channel = 8192. For ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (start from 0). I32 TCmpCh： Specified the table comparator channel number. Zero base.Range is from 0 to 3(MT version only support 0 and 1). I32 \*DataArr： Comparing data array. I32 ArraySize： The size of comparing data array. Please refer to product’s specification. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Below example is for MNET-4XMO-C, HSL-4XMO： #define POINTS 5000 I32 BoardId = 0; I32 Bus\_No = 1; I32 Mod\_No = 0; I32 ret; I32 data[POINTS]; I32 i; for( i = 0; i < POINTS; i++ ) $$ \text { data[i] } = 1 0 + (i * 1 0); $$ APS\_set\_field\_bus\_trigger\_param(BoardId, Bus\_No, Mod\_No, 0x0, 0 ); //Set CMP0 as table type APS\_set\_field\_bus\_trigger\_param(BoardId, Bus\_No, Mod\_No, 0x10, 1 ); //Set CMP0 as TRG0’s source ret = APS\_set\_field\_bus\_trigger\_table(BoardId, Bus\_No, Mod\_No, 0, data, POINTS ); APS\_set\_field\_bus\_trigger\_param(BoardId, Bus\_No, Mod\_No, 0x04, 1 ); //Enable CMP0 # // Trigger operation… # //When finish the trigger operation. APS\_set\_field\_bus\_trigger\_param(BoardId, Bus\_No, Mod\_No, 0x04, 0 ); //Disable CMP0 Below example is for ECAT-4XMO, ECAT-4XMO-MT： #define POINTS 5000 I32 BoardId = 0, Bus\_No = 0, Mod\_No = 0, ret = 0, i = 0; I32 data[POINTS]; for( i = 0; i < POINTS; i++ ) $$ \text { data } [ i ] = 1 0 + (i * 1 0); $$ // Set encoder counter 0 as TCMP0’s source. APS\_set\_field\_bus\_trigger\_param( BoardId, Bus\_No, Mod\_No, 0x2, 0 ); // Set TCMP0 as TRG0’s source. APS\_set\_field\_bus\_trigger\_param( BoardId, Bus\_No, Mod\_No, 0x10, 4 ); // Set TCMP0 compare direction to bi-direction APS\_set\_field\_bus\_trigger\_param( BoardId, Bus\_No, Mod\_No, 0x4, 2 ); // Start table compare. ```txt ret = APS_set_field_bus_trigger_table(BoardId, Bus_No, Mod_No, 0, data, POINTS); ``` Below example is for ECAT-TRG4, ECAT-TRG4-MT ： #define POINTS 5000 ```c I32 BoardId = 0, Bus_No = 0, Mod_No = 0, ret = 0, i = 0; I32 data[POINTS]; ``` for( i = 0; i < POINTS; i++ ) ```javascript data[i] = 10 + (i * 10); ``` // Set encoder counter 0 as TCMP0’s source. APS\_set\_field\_bus\_trigger\_param( BoardId, Bus\_No, Mod\_No, 0x2, 0 ); // Set TCMP0 as TRG0’s source. APS\_set\_field\_bus\_trigger\_param( BoardId, Bus\_No, Mod\_No, 0x10, 4 ); // Set TCMP0 compare direction to bi-direction APS\_set\_field\_bus\_trigger\_param( BoardId, Bus\_No, Mod\_No, 0x4, 2 ); //Set external source from which Axis ID = 5 APS\_set\_field\_bus\_trigger\_param( BoardId, Bus\_No, Mod\_No, 0x50, 5 ); // Start table compare. ret = APS\_set\_field\_bus\_trigger\_table( BoardId, Bus\_No, Mod\_No, 0, data, POINTS ); # See also： APS\_set\_field\_bus\_trigger\_linear() # APS\_set\_field\_bus\_trigger\_manual Support Products： MNET-4XMO-C, ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to forced output a trigger at specified trigger output channel. # Syntax： C/C++： I32 FNTYPE APS\_set\_field\_bus\_trigger\_manual( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 TrgCh ); Visual Basic： APS\_set\_field\_bus\_trigger\_manual( ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No, ByVal TrgCh As Long) As Long # Parameters： For MNET-4XMO-C, HSL-4XMO： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Module number. For MNET field bus, the range of module number is 0 to 63. I32 TrgCh： Trigger output channel (TRG) number. Zero based. For MNET-4XMO-C, the range of TrgCh is 0 to 3. For ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (start from 0). I32 TrgCh： Trigger output channel (TRG) number. Zero based. Range is from 0 to 3. # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： Below example is for MNET-4XMO-C, HSL-4XMO： ```c I32 BoardId = 0; I32 Bus_No = 1; I32 Mod_No = 0; I32 ret; ret = APS_set_field_bus_trigger_manual(BoardId, Bus_No, Mod_No, 0); //TRG0 ``` Below example is for ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT： ```c I32 BoardId = 0, Bus_No = 0, Mod_No = 0; I32 ret; ret = APS_set_field_bus_trigger_manual(BoardId, Bus_No, Mod_No, 0); //TRG0 ``` See also： APS\_set\_field\_bus\_trigger\_manual\_s() # APS\_set\_field\_bus\_trigger\_manual\_s Support Products： MNET-4XMO-C, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to forced output a trigger. By this function, all output channels output trigger synchronously is possible. # Syntax： C/C++： I32 FNTYPE APS\_set\_field\_bus\_trigger\_manual\_s( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 TrgChInBit ); Visual Basic： APS\_set\_field\_bus\_trigger\_manual\_s( ByValBoard\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No, ByValTrgChInBit As Long) As Long # Parameters： For MNET-4XMO-C, HSL-4XMO： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Module number. For MNET field bus, the range of module number is 0 to 63. I32 TrgChInBit： 1： Output trigger, 0： Don’t output trigger For MNET-4XMO-C ： Bit0： TRG0, Bit1： TRG1, Bit2： TRG2, Bit3： TRG3 For ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (start from 0). I32 TrgChInBit： Assign trigger channel by bit define. Define as bellows： Bit0： TRG0, Bit1： TRG1, Bit2： TRG2, Bit3： TRG3 # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```c Below example is for MNET-4XMO-C, HSL-4XMO: I32 BoardId = 0; I32 Bus_No = 1; I32 Mod_No = 0; I32 ret; ret = APS_set_field_bus_trigger_manual_s(BoardId, Bus_No, Mod_No, 0xF ); //4 channels output trigger simultaneously. ret = APS_set_field_bus_trigger_manual_s(BoardId, Bus_No, Mod_No, 0x2 ); //TRG1 outputs trigger. ret = APS_set_field_bus_trigger_manual_s(0, 0x3 ); //TRG0 and TRG1 output trigger simultaneously. //... ``` Below example is for ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT： ```c I32 BoardId = 0, Bus_No = 0, Mod_No = 0, ret = 0; // 4 channels output trigger simultaneously. ret = APS_set_field_bus_trigger_manual_s(BoardId, Bus_No, Mod_No, 0xF); // TRG1 outputs trigger. ret = APS_set_field_bus_trigger_manual_s(BoardId, Bus_No, Mod_No, 0x2); // TRG0 and TRG1 output trigger simultaneously. ret = APS_set_field_bus_trigger_manual_s(BoardId, Bus_No, Mod_No, 0x3); ``` See also： ```cmake APS_set_field_bus_trigger_manual() ``` # APS\_get\_field\_bus\_trigger\_table\_cmp Support Products： MNET-4XMO-C, HSL-4XMO, ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to get current comparing value in the specified table comparator. # Syntax： C/C++： I32 FNTYPE APS\_get\_field\_bus\_trigger\_table\_cmp( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 TCmpCh, I32 \*CmpVal ); Visual Basic： APS\_get\_field\_bus\_trigger\_table\_cmp(ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No, ByVal TCmpCh As Long, CmpVal As Long ) As Long # Parameters： For MNET-4XMO-C, HSL-4XMO： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Module number. For HSL field bus, the range of module number is 1 to 63. In HSL, the Module\_No is the first id occupied by the module. For MNET field bus, the range of module number is 0 to 63. I32 TCmpCh： Specified the table comparator channel number. Zero base. For MNET-4XMO-C, the range of TCmpCh is 0 to 3. (TCmpCh 0\~3 is used for general comparator.) I32 \*CmpVal： Return the current comparing value in the comparator. For ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (start from 0). I32 TCmpCh： Specified the table comparator channel number. Zero base. Range is from 0 to 3(MT version only support 0 and 1). I32 \*CmpVal： Return the current comparing value in the comparator. # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```txt Below example is for MNET-4XMO-C, HSL-4XMO : I32 BoardId = 0; I32 Bus_No = 1; I32 Mod_No = 0; I32 ret; I32 CmpVal; ret = APS_get_field_bus_trigger_table_cmp (BoardId, Bus_No, Mod_No, 0, &CmpVal); If( ret != ERR_NoError ) { // Error, show message. } ``` ```txt Below example is for ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT : I32 BoardId = 0, Bus_No = 0, Mod_No = 0, ret = 0, CmpVal = 0; // Get TCMP0 current compare point. ret = APS_get_field_bus_trigger_table_cmp(BoardId, Bus_No, Mod_No, 0, &CmpVal); If(ret != ERR_NoError) { // Error, show message. } ``` See also： ```cmake APS_get_field_bus_trigger_linear_cmp() ``` # APS\_get\_field\_bus\_trigger\_linear\_cmp Support Products： MNET-4XMO-C, HSL-4XMO, ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4- MT # Descriptions： This function is used to get current comparing value in the specified linear comparator. # Syntax： C/C++： I32 FNTYPE APS\_get\_field\_bus\_trigger\_linear\_cmp( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 LCmpCh, I32 \*CmpVal ); Visual Basic： APS\_get\_field\_bus\_trigger\_linear\_cmp(ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No, ByVal LCmpCh As Long, CmpVal As Long ) As Long # Parameters： For MNET-4XMO-C, HSL-4XMO： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Module number. For HSL field bus, the range of module number is 1 to 63. In HSL, the Module\_No is the first id occupied by the module. For MNET field bus, the range of module number is 0 to 63. I32 LCmpCh： Specified the linear comparator channel number. Zero base. For MNET-4XMO-C, the range of LCmpCh is 0 to 4. ( LCmpCh 0\~3 is used for general comparator, and LCmpCh 4 is used for high speed comparator. ) I32 \*CmpVal： Return the current comparing value in the comparator. For ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (start from 0). I32 LCmpCh： Specified the linear comparator channel number. Zero base. Range is from 0 to 3. I32 \*CmpVal： Return the current comparing value in the comparator. # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```txt Below example is for MNET-4XMO-C, HSL-4XMO : I32 BoardId = 0; I32 Bus_No = 1; I32 Mod_No = 0; I32 ret; I32 CmpVal; ret = APS_get_field_bus_trigger_linear_cmp(BoardId, Bus_No, Mod_No, 0, &CmpVal); If( ret != ERR_NoError ) { // Error, show message. } ``` ```c Below example is for ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT : I32 BoardId = 0, Bus_No = 0, Mod_No = 0, ret = 0, CmpVal = 0; // Get LCMP0 current compare point. Ret = APS_get_field_bus_trigger_linear_cmp(BoardId, Bus_No, Mod_No, 0, &CmpVal); If( ret != ERR_NoError ) { // Error, show message.} ``` See also： ```cmake APS_get_field_bus_trigger_table_cmp() ``` # APS\_get\_field\_bus\_trigger\_count Support Products： MNET-4XMO-C, ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT # Descriptions： For MNET-4XMO-C, HSL-4XMO： This function is used to get the triggered counter. You can use this function to check how many trigger pulse be output. Using APS\_reset\_field\_bus\_trigger\_count() to reset the counter to zero. For ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT： This function is used to get the triggered counter value. This value means total triggered pulses from last counter reset. It is useful to check compared times. # Syntax： C/C++： I32 FNTYPE APS\_get\_field\_bus\_trigger\_count( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 TrgCh, I32 \*TrgCnt ); Visual Basic： APS\_get\_field\_bus\_trigger\_count(ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No, ByVal TrgCh As Long, TrgCnt As Long) As Long # Parameters： For MNET-4XMO-C, HSL-4XMO： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Module number. For MNET field bus, the range of module number is 0 to 63. I32 TrgCh： Specified trigger output counter channel number. Zero base. For MNET-4XMO-C, the range of TrgCh is 0 to 3. I32 \*TrgCnt： Return trigger counter value. For ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (start from 0). I32 TrgCh： Specified trigger output counter channel number. Zero base. Range is from 0 to 3. I32 \*TrgCnt： Return trigger counter value. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Below example is for MNET-4XMO-C, HSL-4XMO： I32 BoardId = 0; I32 Bus\_No = 1; I32 Mod\_No = 0; I32 Ret; I32 TrgCnt; Ret = APS\_get\_field\_bus\_trigger\_count(BoardId, Bus\_No, Mod\_No, 0, &TrgCnt ); If( ret != ERR\_NoError ) { // Error, show message.} Below example is for ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT： I32 BoardId = 0, Bus\_No = 0, Mod\_No = 0, ret = 0, TrgCnt = 0; // Get TRG0 current trigger count. Ret = APS\_get\_field\_bus\_trigger\_count( BoardId, Bus\_No, Mod\_No, 0, &TrgCnt ); If( ret != ERR\_NoError ) {// Error, show message.} # See also： APS\_reset\_field\_bus\_trigger\_count() # APS\_reset\_field\_bus\_trigger\_count Support Products： MNET-4XMO-C, ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to reset the triggered counter to zero. # Syntax： C/C++： I32 FNTYPE APS\_reset\_field\_bus\_trigger\_count( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 TrgCh ); Visual Basic： APS\_reset\_field\_bus\_trigger\_count( ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No, ByVal TrgCh As Long ) As Long # Parameters： For MNET-4XMO-C, HSL-4XMO： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Module number. For MNET field bus, the range of module number is 0 to 63. I32 TrgCh： Trigger counter channel number. Zero based. For MNET-4XMO-C, the range of TrgCh is 0 to 3. For ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (start from 0). I32 TrgCh： Specified trigger output counter channel number. Zero base. Range is from 0 to 3. # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```matlab Below example is for MNET-4XMO-C, HSL-4XMO : I32 BoardId = 0; I32 Bus_No = 1; I32 Mod_No = 0; I32 ret; ret = APS_reset_field_bus_trigger_count(BoardId, Bus_No, Mod_No, 0); ret = APS_reset_field_bus_trigger_count(BoardId, Bus_No, Mod_No, 1); ret = APS_reset_field_bus_trigger_count(BoardId, Bus_No, Mod_No, 2); ret = APS_reset_field_bus_trigger_count(BoardId, Bus_No, Mod_No, 3); ... Below example is for ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT : I32 BoardId = 0, Bus_No = 0, Mod_No = 0, ret = 0; ret = APS_reset_field_bus_trigger_count(BoardId, Bus_No, Mod_No, 0); ret = APS_reset_field_bus_trigger_count(BoardId, Bus_No, Mod_No, 1); ret = APS_reset_field_bus_trigger_count(BoardId, Bus_No, Mod_No, 2); ret = APS_reset_field_bus_trigger_count(BoardId, Bus_No, Mod_No, 3); ``` See also： ```cmake APS_get_field_bus_trigger_count() ``` # APS\_get\_field\_bus\_linear\_cmp\_remain\_count Support Products： MNET-4XMO-C, ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to get remaining counter of linear comparator. # Syntax： C/C++： I32 FNTYPE APS\_get\_field\_bus\_linear\_cmp\_remain\_count( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 LCmpCh, I32 \*Cnt ); Visual Basic： APS\_get\_field\_bus\_linear\_cmp\_remain\_count ( ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No, ByVal LCmpCh As Long, Cnt As Long ) As Long # Parameters： For MNET-4XMO-C, HSL-4XMO： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Module number. For MNET field bus, the range of module number is 0 to 63. I32 LCmpCh： Specified the linear comparator channel number. Zero base. For MNET-4XMO-C, the range of LCmpCh is 0 to 4. ( LCmpCh 0\~3 is used for general comparator, and LCmpCh 4 is used for high speed comparator. ) I32 \*Cnt： Remaining counter. For ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (start from 0). I32 LCmpCh： Specified the linear comparator channel number. Zero base. Range is from 0 to 3. I32 Cnt： Remaining count value. # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```c Below example is for MNET-4XMO-C, HSL-4XMO : I32 BoardId = 0; I32 Bus_No = 1; I32 Mod_No = 0; I32 ret; I32 Cnt; ret = APS_get_field_bus_linear_cmp_remain_count (BoardId, Bus_No, Mod_No, 0, &Cnt); If( ret != ERR_NoError ) { // Error, show message. } ``` Below example is for ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT： ```c 132 BoardId = 0, Bus_No = 0, Mod_No = 0, ret = 0, Cnt = 0; // Get LCMP0 remain count. ret = APS_get_field_bus_linear_cmp_remain_count (BoardId, Bus_No, Mod_No, 0, &Cnt); If( ret != ERR_NoError ) { // Error, show message. } ``` See also： ```txt APS_get_field_bus_table_cmp_remain_count() ``` # APS\_get\_field\_bus\_table\_cmp\_remain\_count Support Products： MNET-4XMO-C, ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to get remaining counter of table comparator. # Syntax： C/C++： I32 FNTYPE APS\_get\_field\_bus\_table\_cmp\_remain\_count( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 TCmpCh, I32 \*Cnt ); Visual Basic： APS\_get\_field\_bus\_table\_cmp\_remain\_count ( ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No, ByVal TCmpCh As Long, Cnt As Long ) As Long # Parameters： For MNET-4XMO-C, HSL-4XMO： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Module number. For MNET field bus, the range of module number is 0 to 63. I32 TCmpCh： Specified the table comparator channel number. Zero base. For MNET-4XMO-C, the range of TCmpCh is 0 to 3. (TCmpCh 0\~3 is used for general comparator.) I32 \*Cnt： Remaining counter. For ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (start from 0). I32 TCmpCh： Specified the table comparator channel number. Zero base. Range is from 0 to 3(MT version only support 0 and 1). I32 Cnt： Remaining count value. # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```c Below example is for MNET-4XMO-C, HSL-4XMO : I32 BoardId = 0; I32 Bus_No = 1; I32 Mod_No = 0; I32 ret; I32 Cnt; ret = APS_get_field_bus_table_cmp_remain_count (BoardId, Bus_No, Mod_No, 0, &Cnt); If( ret != ERR_NoError ) { // Error, show message. } ``` Below example is for ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT： ```c 132 BoardId = 0, Bus_No = 0, Mod_No = 0, ret = 0, Cnt = 0; // Get TCMP0 remain count. ret = APS_get_field_bus_table_cmp_remain_count (BoardId, Bus_No, Mod_No, 0, &Cnt); If( ret != ERR_NoError ) { // Error, show message. } ``` See also： ```cmake APS_get_field_bus_linear_cmp_remain_count() ``` # APS\_get\_field\_bus\_encoder Support Products： MNET-4XMO-C, ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to get encoder count # Syntax： C/C++： I32 FNTYPE APS\_get\_field\_bus\_encoder( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 EncCh, I32 \*EncCnt ); Visual Basic： APS\_get\_field\_bus\_encoder ( ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No, ByVal EncCh As Long, EncCnt As Long ) As Long # Parameters： For MNET-4XMO-C, HSL-4XMO： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Module number. For MNET field bus, the range of module number is 0 to 63. I32 EncCh： Specified the encoder channel number. Zero base. For MNET-4XMO-C, the range of EncCh is 0 to 4. (EncCh 0\~3 is used for general comparator, and LCmpCh 4 is used for high speed comparator. ) I32 \* EncCnt： Encoder count. For ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (start from 0). I32 EncCh： Specified the encoder channel number. Zero base. Range is from 0 to 3. I32 EncCnt： Encoder count. # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```c Below example is for MNET-4XMO-C, HSL-4XMO : I32 BoardId = 0; I32 Bus_No = 1; I32 Mod_No = 0; I32 ret; I32 EncCnt; ret = APS_get_field_bus_encoder (BoardId, Bus_No, Mod_No, 0, & EncCnt); If( ret != ERR_NoError ) { // Error, show message. } ``` ```c Below example is for ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT : 132 BoardId = 0, Bus_No = 0, Mod_No = 0, ret = 0, EncCnt = 0; // Get Encoder 0 count. ret = APS_get_field_bus_encoder( BoardId, Bus_No, Mod_No, 0, &EncCnt ); If( ret != ERR_NoError ) { // Error, show message. } ``` See also： ```cmake APS_set_field_bus_encoder() ``` # APS\_set\_field\_bus\_encoder Support Products： MNET-4XMO-C # Descriptions： This function is used to set encoder count # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_field\_bus\_encoder( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 EncCh, I32 EncCnt ); ```txt Visual Basic : ``` APS\_set\_field\_bus\_encoder ( ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No, ByVal EncCh As Long, ByVal EncCnt As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Module number. For MNET field bus, the range of module number is 0 to 63. I32 EncCh： Specified the encoder channel number. Zero base. For MNET-4XMO-C, the range of EncCh is 0 to 4. (EncCh 0\~3 is used for general comparator, and LCmpCh 4 is used for high speed comparator. ) I32 EncCnt： Encoder count. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 BoardId = 0; I32 Bus\_No = 1; I32 Mod\_No = 0; I32 ret; ret = APS\_set\_field\_bus\_encoder (BoardId, Bus\_No, Mod\_No, 0, 0); If( ret != ERR\_NoError ) { // Error, show message. } See also： APS\_set\_field\_bus\_encoder() # APS\_get\_field\_bus\_timer\_counter Support Products： ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to get the timer counter value. # Syntax： ```txt C/C++ : ``` I32 APS\_get\_field\_bus\_timer\_counter( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 TmrCh, I32 \*TmrCnt ); ```txt Visual Basic : ``` APS\_get\_field\_bus\_timer\_counter (ByVal Board\_ID As Integer, ByVal BUS\_No As Integer, ByVal MOD\_No As Integer, ByVal TmrCh As Integer, ByRef TmrCnt As Integer) As Integer # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (start from 0). I32 TmrCh： The channel of timer. (only support index 0 now) I32 \*TmrCnt： Return timer counter value. # Return Values： I32 error code. Refer to error code table. # Example： ```c 132 BoardId = 0, Bus_No = 0, Mod_No = 0, ret = 0, TmrCnt = 0; // Get Timer count value. ret = APS_get_field_bus_timer_counter(BoardId, Bus_No, Mod_No, &TmrCnt); If( ret != ERR_NoError ) { // Error, show message. } ``` # See also： APS\_set\_field\_bus\_timer\_counter(); # APS\_set\_field\_bus\_timer\_counter Support Products： ECAT-4XMO, ECAT-4XMO-MT, ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to set timer count value. The timer is used to simulate for encoder, and be comparator source. # Syntax： ```txt C/C++ : ``` I32 APS\_set\_field\_bus\_timer\_counter( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 TmrCh, I32 TmrCnt); Visual Basic： APS\_set\_field\_bus\_timer\_counter (ByVal Board\_ID As Integer, ByVal BUS\_No As Integer, ByVal MOD\_No As Integer, ByVal TmrCh As Integer, ByVal TmrCnt As Integer) As Integer # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (start from 0). I32 TmrCh： The channel of timer. (only support index 0 now) I32 TmrCnt： Specify timer counter value. # Return Values： I32 error code. Refer to error code table. # Example： ```c 132 BoardId = 0, Bus_No = 0, Mod_No = 0, ret = 0; // Set timer counter. ret = APS_set_field_bus_timer_counter(BoardId, Bus_No, Mod_No, 0, 100); If( ret != ERR_NoError ) { // Error, show message. } ``` # See also： APS\_get\_field\_bus\_timer\_counter() # APS\_set\_field\_bus\_multi\_trigger\_table Support Products： ECAT-4XMO-MT, ECAT-TRG4-MT # Descriptions： This function is used to push data in table (FIFO) for comparing. There are two comparators designed for multidimension comparing application. The comparing points are pushed in the queue initially. User can use trigger parameter to select comparator source from encoder number. Specify arbitrary trigger channel to generate PWM is allowed. Once the point is compared, the specified trigger channel will generate one PWM signal and its corresponding counter will add 1 simultaneously. ![Based on the provided image, here is the accurate description of the flowchart:\n\n**Labeled Blocks:**\n* Queue\n* TGR_MCMP0_SRC\n* MCMP0\n* TGR_MCMP1 SRC\n* MCMP1\n* Compare\n* TGR_TRG0_SRC\n* Trigger output 0\n* TGR_TRG1_SRC\n* Trigger output 1\n* TGR_TRG2_SRC\n* Trigger output 2\n* TGR_TRG3_SRC\n* Trigger output 3\n\n**Connections:**\n* The **Queue** block splits into two paths.\n* The top path connects to **MCMP0**, which also receives an input from **TGR_MCMP0_SRC**.\n* The bottom path connects to **MCMP1**, which also receives an input from **TGR_MCMP1 SRC**.\n* Both **MCMP0** and **MCMP1** feed into the **Compare** block.\n* The **Compare** block splits into four separate paths.\n* These paths connect sequentially to **Trigger output 0**, **Trigger output 1**, **Trigger output 2**, and **Trigger output 3**.\n* Each Trigger output block receives an additional input from a corresponding source block:\n * **TGR_TRG0_SRC** connects to **Trigger output 0**.\n * **TGR_TRG1_SRC** connects to **Trigger output 1**.\n * **TGR_TRG2_SRC** connects to **Trigger output 2**.\n * **TGR_TRG3_SRC** connects to **Trigger output 3**.\n* Each **Trigger output** block (0 through 3) has an arrow pointing to a square wave symbol.](.aps-functionlibrary-v2-1/95f0ff97819d4a12af069cf746ffbe405f554dde878e7775fe482c5738973061.jpg) Comparator Configuration： <table>DimensionConfiguration2Select source in trigger parameter TGR_MCMP0_SRC / TGR_MCMP1_SRC Trigger Output Configuration
ChannelConfiguration
0Set bit 6 in trigger parameter TGR_TRG0_SRC
1Set bit 6 in trigger parameter TGR_TRG1_SRC
2Set bit 6 in trigger parameter TGR_TRG2_SRC
3Set bit 6 in trigger parameter TGR_TRG3_SRC
# Syntax： C/C++： ```txt I32 FNTYPE APS_set_field_bus_multi_trigger_table( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 MTCmpCh, I32 Dimension, MCMP_POINT *DataArray, I32 ArraySize , I32 Window ); Visual Basic : APS_set_field_bus_multi_trigger_table( ByVal Board_ID As Long, ByVal BUS_No As Long, ByVal MOD_No As Long, ByVal MTCmpCh As Long, ByVal Dimension As Long, ByVal DataArr() As MCMP_POINT, ByVal ArraySize As Long, ByVal Window As Long) As Long ``` Parameters： ```txt For ECAT-4XMO-MT, ECAT-TRG4-MT: I32 Board_ID : ID of the target controller. It's retrieved by successful call to APS_initial(). I32 BUS_No : Field bus number.(Port number) value : 0~1 I32 MOD_No : Module number. I32 MTCmpCh : Specified the multi-dimension table comparator channel number.(Support "0" only) I32 Dimention : Dimension assign.(Support "2" only) MCMP_POINT *DataArray : Point array used for comparator. See description below for details. ``` ```c // Multi-dimension comparator typedef struct { F64 axisX; // x axis data for multi-dimension comparator 0 F64 axisY; // y axis data for multi-dimension comparator 1 F64 axisZ; // z axis data for multi-dimension comparator 2(Not support) F64 axisU; // u axis data for multi-dimension comparator 3(Not support) U32 chInBit; // pwm output channel in bit format }MCMP_POINT; ``` ```txt 132 ArraySize : The size of point array. 132 Window : Specify comparing range ``` Return Values： ```txt I32 Error code : Please refer to APS Functions Return Code. ``` Example： ```c Below example is for ECAT-4XMO-MT, ECAT-TRG4-MT : #define POINTS 500 I32 BoardId = 0, Bus_No = 0, Mod_No = 0, ret = 0, i = 0; I32 MTTableCh = 0, MT_Dimension = 2, MT_Window = 10; MCMP_POINT data[POINTS]; ``` ```txt // Disable all CMP ``` ```c for( i = 0; i < 4; i++ ) APS_set_field_bus_trigger_param(BoardId, Bus_No, Mod_No, TGR_TRG0_SRC + i, 0 ); // Enable trigger output APS_set_field_bus_trigger_param(BoardId, Bus_No, Mod_No, TGR_TRG_EN, 0xF ); // Set multi-dimension table compare source: Timer counter APS_set_field_bus_trigger_param(BoardId, Bus_No, Mod_No, TGR_MCMP0_SRC, 4 ); APS_set_field_bus_trigger_param(BoardId, Bus_No, Mod_No, TGR_MCMP1_SRC, 4 ); // Set trigger output source to be bit 6 MCMP. for( i = 0; i < 4; i++ ) APS_set_field_bus_trigger_param(BoardId, Bus_No, Mod_No, TGR_TRG0_SRC + i, 0x40 ); // Setting compare point value for( i = 0; i < POINTS; i++ ) { data[i].axisX = (i + 1) * 100; data[i].axisY = (i + 1) * 100; data[i].axisZ = 0.0; data[i].axisU = 0.0; data[i].chInBit = 0xF; } // Start multi-dimension table compare. ret = APS_set_field_bus_multi_trigger_table(BoardId, Bus_No, Mod_No, MTTableCh, MT_Dimension, data, POINTS, MT_Window); Below example is for ECAT-TRG4, ECAT-TRG4-MT : #define POINTS 500 I32 BoardId = 0, Bus_No = 0, Mod_No = 0, ret = 0, i = 0; I32 MTTableCh = 0, MT_Dimension = 2, MT_Window = 10; MCMP_POINT data[POINTS]; // Disable all CMP for( i = 0; i < 4; i++ ) APS_set_field_bus_trigger_param(BoardId, Bus_No, Mod_No, TGR_TRG0_SRC + i, 0 ); // Enable trigger output APS_set_field_bus_trigger_param(BoardId, Bus_No, Mod_No, TGR_TRG_EN, 0xF ); // Set multi-dimension table compare source: // MCMP0 source is encoder 0, MCMP1 source is encoder 1. APS_set_field_bus_trigger_param(BoardId, Bus_No, Mod_No, TGR_MCMP0_SRC, 0 ); APS_set_field_bus_trigger_param(BoardId, Bus_No, Mod_No, TGR_MCMP1_SRC, 1); ``` ```c // Set trigger output source to be bit 6 MCMP. for( i = 0; i < 4; i++ ) APS_set_field_bus_trigger_param(BoardId, Bus_No, Mod_No, TGR_TRGO_SRC + i, 0x40 ); // Setting compare point value for( i = 0; i < POINTS; i++ ) { data[i].axisX = (i + 1) * 100; data[i].axisY = (i + 1) * 100; data[i].axisZ = 0.0; data[i].axisU = 0.0; data[i].chInBit = 0xF; } // Set external encoder source from which Axis ID // Encoder 0 source Axis ID is 5, Encoder 1 source Axis ID is 8. APS_set_field_bus_trigger_param(BoardId, Bus_No, Mod_No, TGR_CMP_EXTENC0_SRC, 5 ); APS_set_field_bus_trigger_param(BoardId, Bus_No, Mod_No, TGR_CMP_EXTENC1_SRC, 8 ); // Start multi-dimension table compare. ret = APS_set_field_bus_multi_trigger_table(BoardId, Bus_No, Mod_No, MTTableCh, MT_Dimension, data, POINTS ); ``` # See also： APS\_get\_field\_bus\_multi\_trigger\_table\_cmp() # APS\_get\_field\_bus\_multi\_trigger\_table\_cmp Support Products： ECAT-4XMO-MT, ECAT-TRG4-MT # Descriptions： This function is used to get current comparing value in the specified multi-dimension table comparator. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_field\_bus\_multi\_trigger\_table\_cmp( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 MTCmpCh, I32 Dimension, MCMP\_POINT \*CmpVal ); Visual Basic： APS\_get\_field\_bus\_multi\_trigger\_table\_cmp( ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No As Long, ByVal MTCmpCh As Long, ByVal Dimension As Long, ByRef CmpVal As MCMP\_POINT ) As Long # Parameters： For ECAT-4XMO-MT, ECAT-TRG4-MT： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) value： 0\~1 I32 MOD\_No： Module number. I32 MTCmpCh： Specified the multi-dimension table comparator channel number.(Support “0” only) I32 Dimention： Dimension assign.(Support “2” only) MCMP\_POINT \*CmpVal： Return the current comparing value in comparator. See description below for details. ```c // Multi-dimension comparator typedef struct { F64 axisX; // x axis data for multi-dimension comparator 0 F64 axisY; // y axis data for multi-dimension comparator 1 F64 axisZ; // z axis data for multi-dimension comparator 2(Not support) F64 axisU; // u axis data for multi-dimension comparator 3(Not support) U32 chInBit; // pwm output channel in bit format }MCMP_POINT; ``` # Return Values： I32 error code. Refer to error code table. Example： ```c For ECAT-4XMO-MT, ECAT-TRG4-MT: I32 BoardId = 0, Bus_No = 0, Mod_No = 0, MTCmpCh = 0, ret = 0, MCMP_POINT CmpVal; // Get MTCMP0 current compare point. ret = APS_get_field_bus_multi_trigger_table_cmp(BoardId, Bus_No, Mod_No, MTCmpCh, &CmpVal); If(ret != ERR_NoError) { // Error, show message. } ``` See also： ```txt APS_set_field_bus_multi_trigger_table() ``` # APS\_get\_field\_bus\_multi\_table\_cmp\_remain\_count Support Products： ECAT-4XMO-MT, ECAT-TRG4-MT # Descriptions： This function is used to get remaining counter of multi-dimension comparator. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_field\_bus\_multi\_table\_cmp\_remain\_count( I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 MTCmpCh, I32 \*Cnt ); Visual Basic： APS\_get\_field\_bus\_multi\_table\_cmp\_remain\_count ( ByVal Board\_ID As Long, ByVal BUS\_No As Long, ByVal MOD\_No, ByVal MTCmpCh As Long, ByRef Cnt As Long ) As Long # Parameters： For ECAT-4XMO-MT, ECAT-TRG4-MT： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (start from 0). I32 MTCmpCh： Specified the multi-dimension table comparator channel number. (Support “0” only). I32 Cnt： Remaining count value. # Return Values： I32 error code. Refer to error code table. # Example： For ECAT-4XMO-MT, ECAT-TRG4-MT： I32 BoardId = 0, Bus\_No = 0, Mod\_No = 0, ret = 0, Cnt = 0; I32 MTCmpCh = 0; // Get MTCMP0 remain count. ret = APS\_get\_field\_bus\_multi\_table\_cmp\_remain\_count ( BoardId, Bus\_No, Mod\_No, MTCmpCh, &Cnt ); If( ret != ERR\_NoError ) { // Error, show message. } # See also： APS\_set\_field\_bus\_multi\_trigger\_table() # 25.Field bus position latch functions # Latch process Descriptions： There are 4 position latch channels and each of them has hardware FIFO and software FIFO. User has to select the trigger source and encoder number for latch channel. Trigger source can be LTC, which is hardware digital input signals, or PWM pulse out module. The rising, falling or both edge trigger modes are also supported here. Before enable latch process, these setting must be set refer from “Latch parameter table”. Then set LTC\_EN (0x13) to enable latch process ![The flowchart illustrates a data acquisition pipeline with four parallel channels, organized into regions labeled 'DSP' and 'FPGA'. The data flow moves from right to left.\n\n**Labeled Blocks:**\n* **User Application** (Leftmost block)\n* **Buffer** blocks: 'Buffer 0', 'Buffer 1', 'Buffer 2', 'Buffer 3'\n* **Software FIFO** blocks: 'Software FIFO 0', 'Software FIFO 1', 'Software FIFO 2', 'Software FIFO 3'\n* **Hardware FIFO** blocks: 'Hardware FIFO 0', 'Hardware FIFO 1', 'Hardware FIFO 2', 'Hardware FIFO 3'\n* **Position latch** blocks: 'Position latch Channel 0', 'Position latch Channel 1', 'Position latch Channel 2', 'Position latch Channel 3'\n* **Inputs:** 'Source' and 'Encoder' (appearing four times on the far right)\n\n**Connections:**\n* **Inputs to FPGA:** Arrows point from 'Source' and 'Encoder' into each corresponding 'Position latch Channel' block.\n* **FPGA to FPGA:** Arrows point left from each 'Position latch Channel' block to its corresponding 'Hardware FIFO' block.\n* **FPGA to DSP:** Arrows point left from each 'Hardware FIFO' block to its corresponding 'Software FIFO' block.\n* **DSP to Application:** Arrows point left from each 'Software FIFO' block to its corresponding 'Buffer' block.\n* **DSP to User:** Arrows point left from each 'Buffer' block into the 'User Application' block.\n\n**Groupings:**\n* The 'Software FIFO' and 'Buffer' columns are enclosed within a dashed box labeled **DSP**.\n* The 'Hardware FIFO' and 'Position latch' columns are enclosed within a dashed box labeled **FPGA**.](.aps-functionlibrary-v2-1/dc109f4a9027b68db49cde46473a24b713c1c0f141c1ee9169478062ac265c10.jpg) After enable position latch process, user can get software FIFO state and information from other functions. It can help user manage its program flow and calculation. When the latch event occurs, the latched data will immediately be stored into hardware FIFO, which space is 255. This data will then be cyclically moved to software FIFO, which space is 5000. Between user application and software FIFO, there are buffers to place point temporarily, so that user can get this data with software layer API. If any latch parameter be revised, fieldbus disconnection or power off, operators need to set LTC\_EN (0x13) disable latch process and enable it again. # Latch process enable ECAT-4XMO, ECAT-4XMO-MT example： I32 Board\_ID = 0, BUS\_NO = 0, ret = 0, MOD\_NO = 1, FLtcCh = 0, Param\_No = 0, Param\_Val = 0, FLtcCh = 0; Param\_No = LTC\_EN; Param\_Val = 0; ret = APS\_set\_field\_bus\_ltc\_fifo\_param(Board\_ID,BUS\_NO,MOD\_NO,FLtcCh,Param\_No,Param\_Val); ret = APS\_reset\_field\_bus\_ltc\_fifo(Board\_ID,BUS\_NO,MOD\_NO,FLtcCh); Param\_No = LTC\_IPT; Param\_Val = 5; // bit 0, bit 2 set means 2 ltc source ret = APS\_set\_field\_bus\_ltc\_fifo\_param(Board\_ID,BUS\_NO,MOD\_NO,FLtcCh,Param\_No,Param\_Val); Param\_No = LTC\_ENC; ```txt Param_Val = 0; ret = APS_set_field_bus_ltc_fifo_param(Board_ID,BUS_NO,MOD_NO,FLtcCh,Param_No,Param_Val); Param_No = LTC_LOGIC; Param_Val = 1; ret = APS_set_field_bus_ltc_fifo_param(Board_ID,BUS_NO,MOD_NO,FLtcCh,Param_No,Param_Val); Param_No = LTC_EN; Param_Val = 1; ret = APS_set_field_bus_ltc_fifo_param(Board_ID,BUS_NO,MOD_NO,FLtcCh,Param_No,Param_Val); If( ret != ERR_NoError ) { // Error, show message. } ``` Latch process enable ECAT-TRG4, ECAT-TRG4-MT example： ```c I32 Board_ID = 0, BUS_NO = 0, ret = 0, MOD_NO = 1, FLtcCh = 0, Param_No = 0, Param_Val = 0, Axis_ID = 5; FLtcCh = 0; Param_No = LTC_EN; Param_Val = 0; ret = APS_set_field_bus_ltc_fifo_param(Board_ID,BUS_NO,MOD_NO,FLtcCh,Param_No,Param_Val); ret = APS_reset_field_bus_ltc_fifo(Board_ID,BUS_NO,MOD_NO,FLtcCh); ``` ```c Param_No = LTC_IPT; Param_Val = 5; // bit 0, bit 2 set means 2 ltc source ret = APS_set_field_bus_ltc_fifo_param(Board_ID,BUS_NO,MOD_NO,FLtcCh,Param_No,Param_Val); Param_No = LTC_ENC; Param_Val = 0; ret = APS_set_field_bus_ltc_fifo_param(Board_ID,BUS_NO,MOD_NO,FLtcCh,Param_No,Param_Val); Param_No = LTC_LOGIC; Param_Val = 1; ret = APS_set_field_bus_ltc_fifo_param(Board_ID,BUS_NO,MOD_NO,FLtcCh,Param_No,Param_Val); ``` ```txt Param_No = LTC_EXTENC_SRC; Param_Val = Axis_ID; ret = APS_set_field_bus_ltc_fifo_param(Board_ID, BUS_NO, MOD_NO, FLtcCh, Param_No, Param_Val); Param_No = LTC_EN; Param_Val = 1; ret = APS_set_field_bus_ltc_fifo_param(Board_ID, BUS_NO, MOD_NO, FLtcCh, Param_No, Param_Val); ``` ```c If( ret != ERR_NoError ) { // Error, show message. } ``` See also： ```txt APS_set_field_bus_ltc_fifo_param(), APS_get_field_bus_ltc_fifo_param(), APS_reset_field_bus_ltc_fifo() ``` # APS\_get\_field\_bus\_ltc\_fifo\_point Support Products： ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to get latch point. Each latch point will include position in user coordinate and corresponding trigger source. The maximum latch point array size is 1. # Syntax： ```txt C/C++ : ``` I32 APS\_get\_field\_bus\_ltc\_fifo\_point (I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 FLtcCh, I32 \*ArraySize, LATCH\_POINT \*LatchPoint); Visual Basic： APS\_get\_field\_bus\_ltc\_fifo\_point (ByVal Board\_ID As Integer, ByVal BUS\_No As Integer, ByVal MOD\_No As Integer, ByVal FLtcCh As Integer, ByRef ArraySize As Integer, ByRef LatchPoint As LATCH\_POINT) As Integer # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (start from 0). I32 FLtcCh： Specified the latch channel number. Zero base. Range is from 0 to 3. I32 \*ArraySize： The size of latch point array, maximum value is 1. ```c typedef struct { F64 position; I32 ltcSrcInBit; } LATCH_POINT; ``` # Struct members： F64 position： Latched position from specified encoder I32 ltcSrcInBit： bit 0\~3 means source from digital input signal 0\~3; bit 8\~11 means source from PWM output channel 0\~3. # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```c //After enable latch process // Thread 1 polling status, I32 ret = 0, usage = 0; I32 Board_ID = 0, BUS_NO = 0, ret = 0, MOD_NO = 1, FLtcCh = 0 I32 flag = 0; While(1) { ret = APS_get_field_bus_ltc_fifo_usage(Board_ID,BUS_NO,MOD_NO,FLtcCh, &usage) If(usage >= 1) { flag = 1; } else { flag = 0; } } //---- // Thread 2 judge flag to get point I32 Board_ID = 0, BUS_NO = 0, ret = 0, MOD_NO = 1, FLtcCh = 0, size = 0; LATCH_POINT pt; ``` ```txt if(flag == 1) { ret = APS_get_field_bus_ltc_fifo_point(Board_ID, BUS_NO, MOD_NO, FLtcCh, &size, &pt); If( ret != ERR_NoError ) { // Error, show message. } } ``` See also： ```prolog APS_get_field_bus_ltc_fifo_usage(), APS_get_field_bus_ltc_fifo_status(). ``` # APS\_set\_field\_bus\_ltc\_fifo\_param Support Products： ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to set latch parameter value into Latch parameter table. # Syntax： ```txt C/C++ : ``` I32 APS\_set\_field\_bus\_ltc\_fifo\_param (I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 FLtcCh, I32 Param\_No, I32 Param\_Val); Visual Basic： APS\_set\_field\_bus\_ltc\_fifo\_param (ByVal Board\_ID As Integer, ByVal BUS\_No As Integer, ByVal MOD\_No As Integer, ByVal FLtcCh As Integer, ByVal Param\_No As Integer, ByVal param\_val As Integer) As Integer # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial (). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (Start from 0). I32 FLtcCh： Specified the latch channel number. Zero base. Range is from 0 to 3. I32 Param\_No： Parameter number. Refer to latch parameter table. I32 Param\_Val： Parameter value. Refer to latch parameter table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Board\_ID = 0, BUS\_NO = 0, ret = 0, MOD\_NO = 1, FLtcCh = 0; I32 Param\_Val = 0, Param\_No = 0; Param\_No = LTC\_IPT; Param\_Val = 5; // bit 0, bit 2 set ret = APS\_set\_field\_bus\_ltc\_fifo\_param(Board\_ID,BUS\_NO,MOD\_NO,FLtcCh,Param\_No,Param\_Val); // set input trigger source is which source # See also： APS\_get\_field\_bus\_ltc\_fifo\_param() # APS\_get\_field\_bus\_ltc\_fifo\_param Support Products： ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to get latch parameter value into Latch parameter table. # Syntax： ```txt C/C++ : ``` I32 APS\_get\_field\_bus\_ltc\_fifo\_param (I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 FLtcCh, I32 Param\_No, I32 \*Param\_Val); Visual Basic： APS\_set\_field\_bus\_ltc\_fifo\_param (ByVal Board\_ID As Integer, ByVal BUS\_No As Integer, ByVal MOD\_No As Integer, ByVal FLtcCh As Integer, ByVal Param\_No As Integer, ByRef param\_val As Integer) As Integer # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial (). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (Start from 0). I32 FLtcCh： Specified the latch channel number. Zero base. Range is from 0 to 3. I32 Param\_No： Parameter number. Refer to latch parameter table. I32 \*Param\_Val： Parameter value. Refer to latch parameter table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```c I32 Board_ID = 0, BUS_NO = 0, ret = 0, MOD_NO = 1, FLtcCh = 0; I32 Param_Val = 0, Param_No = 0; Param_No = LTC_IPT; Param_Val = 0; ret=APS_get_field_bus_ltc_fifo_param(Board_ID,BUS_NO,MOD_NO,FLtcCh,Param_No,&Param_Val); // get input trigger source is which source ``` # See also： APS\_set\_field\_bus\_ltc\_fifo\_param() # APS\_reset\_field\_bus\_ltc\_fifo Support Products： ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used before starting position latch to reset or clear buffer and both FIFO that has been introduced in position patch introduction. It is noticed that the position latch is also cleared simultaneously. # Syntax： ```txt C/C++ : ``` I32 APS\_reset\_field\_bus\_ltc\_fifo (I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 FLtcCh); Visual Basic： APS\_reset\_field\_bus\_ltc\_fifo (ByVal Board\_ID As Integer, ByVal BUS\_No As Integer, ByVal MOD\_No As Integer, ByVal FLtcCh As Integer) As Integer # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial (). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (Start from 0). I32 FLtcCh： Specified the latch channel number. Zero base. Range is from 0 to 3. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```c I32 Board_ID = 0, BUS_NO = 0, ret = 0, MOD_NO = 1, FLtcCh = 0; ret = APS_reset_field_bus_ltc_fifo(Board_ID,BUS_NO,MOD_NO,FLtcCh); //Reset latch fifo ``` # See also： APS\_get\_field\_bus\_ltc\_fifo\_status(). # APS\_get\_field\_bus\_ltc\_fifo\_usage Support Products： ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to get the latch buffer and FIFO used space which is introduced in position patch introduction. # Syntax： ```txt C/C++ : ``` I32 APS\_get\_field\_bus\_ltc\_fifo\_usage (I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 FLtcCh , I32 \*Usage); Visual Basic： APS\_get\_field\_bus\_ltc\_fifo\_usage (ByVal Board\_ID As Integer, ByVal BUS\_No As Integer, ByVal MOD\_No As Integer, ByVal FLtcCh As Integer, ByRef Usage As Integer) As Integer # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (Start from 0). I32 FLtcCh： Specified the latch channel number. Zero base. Range is from 0 to 3. I32 \*Usage： Software FIFO and hardware FIFO used space. The maximum value is 5255 # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```c // After enable latch process I32 Board_ID = 0, BUS_NO = 0, ret = 0, MOD_NO = 1, FLtcCh = 0, usage = 0; ret = APS_get_field_bus_ltc_fifo_usage (Board_ID,BUS_NO,MOD_NO,FLtcCh, & usage); If( ret != ERR_NoError ) { // Error, show message. } ``` # See also： APS\_get\_filed\_bus\_ltc\_fifo\_point(),APS\_get\_field\_bus\_ltc\_fifo\_free\_space(),APS\_get\_field\_bus\_ltc\_fifo\_status(). # APS\_get\_field\_bus\_ltc\_fifo\_free\_space Support Products： ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function is used to get the latch buffer and FIFO free space which is introduced in position patch introduction. # Syntax： ```txt C/C++ : ``` I32 APS\_get\_field\_bus\_ltc\_fifo\_free\_space (I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 FLtcCh , I32 \* FreeSpace); Visual Basic： APS\_get\_field\_bus\_ltc\_fifo\_free\_space (ByVal Board\_ID As Integer, ByVal BUS\_No As Integer, ByVal MOD\_No As Integer, ByVal FLtcCh As Integer, ByRef FreeSpace As Integer) As Integer # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial (). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (Start from 0). I32 FLtcCh： Specified the latch channel number. Zero base. Range is from 0 to 3. I32 \* FreeSpace： Software FIFO and hardware FIFO free space. The value is 5255 – usage which is from APS\_get\_field\_bus\_ltc\_fifo\_usage (). # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： // After enable latch process I32 Board\_ID = 0, BUS\_NO = 0, ret = 0, MOD\_NO = 1, FLtcCh = 0, freespace = 0; ret = APS\_get\_field\_bus\_ltc\_fifo\_ free\_space (Board\_ID,BUS\_NO,MOD\_NO,FLtcCh, & freespace); If( ret != ERR\_NoError ) { // Error, show message. } # See also： APS\_get\_filed\_bus\_ltc\_fifo\_point(),APS\_get\_field\_bus\_ltc\_fifo\_usage(),APS\_get\_field\_bus\_ltc\_fifo\_status(). # APS\_get\_field\_bus\_ltc\_fifo\_status Support Products： ECAT-4XMO, ECAT-4XMO-MT , ECAT-TRG4, ECAT-TRG4-MT # Descriptions： This function can return the status of buffer, software and hardware FIFO, and usually used to prevent application fail (E.g., FIFO overflow). # Syntax ： ```txt C/C++ : ``` I32 APS\_get\_field\_bus\_ltc\_fifo\_status (I32 Board\_ID, I32 BUS\_No, I32 MOD\_No, I32 FLtcCh , I32 \* Status); Visual Basic： APS\_get\_field\_bus\_ltc\_fifo\_status (ByVal Board\_ID As Integer, ByVal BUS\_No As Integer, ByVal MOD\_No As Integer, ByVal FLtcCh As Integer, ByRef Status As Integer) As Integer # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial (). I32 BUS\_No： The index of field bus (only support index 0). I32 MOD\_No： The index of slave device. (Start from 0). I32 FLtcCh： Specified the latch channel number. Zero base. Range is from 0 to 3. I32 \* Status： the bit define of status as follows： In FIFO mode (LTC parameter ： LTC\_FIFO\_MODE = 0) Bit 0 = 0： Hardware FIFO is not empty; 1： Hardware FIFO is empty. Bit 1 = 0： Hardware FIFO is not full; 1： Hardware FIFO is full. Bit 2 = X, not used Bit 3 = 0： Hardware FIFO is not overflow; 1： Hardware FIFO is overflow. Bit 4 = 0： Software FIFO is not empty; 1： Software FIFO is empty. Bit 5 = 0： Software FIFO is not full; 1： Software FIFO is full. Bit 6 = 0： Software FIFO is not overflow; 1： Software FIFO is overflow Bit 7 = 0： Buffer is not full; 1： Buffer is full. In Single point mode (LTC parameter ： LTC\_FIFO\_MODE = 1) Bit 0\~6 = X： not used Bit 7 = 0： Buffer is not full; 1： Buffer is full. Noted, once bit 3 or bit 6 be set 1, these status won’t be clear to be 0 only if user manually reset FIFO by APS\_reset\_field\_bus\_ltc\_fifo(). # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```c I32 Board_ID = 0, BUS_NO = 0, ret = 0, MOD_NO = 1, FLtcCh = 0, status = 0; ret = APS_get_field_bus_ltc_fifo_status (Board_ID,BUS_NO,MOD_NO,FLtcCh, & status); If( ret != ERR_NoError ) { // Error, show message. } ``` # See also： ```prolog APS_get_filed_bus_ltc_fifo_point(), APS_get_field_bus_ltc_fifo_free_space(), APS_get_field_bus_ltc_fifo_usage(), APS_reset_field_bus_ltc_fifo(). ``` # 26.Watch dog timer # APS\_wdt\_start Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, PCIe-8364RS # Descriptions： This function is used to start / stop watch dog timer. # Syntax： C/C++： I32 FNTYPE APS\_wdt\_start( I32 Board\_ID, I32 TimerNo, I32 TimeOut ); Visual Basic： APS\_wdt\_start (ByVal Board\_ID As Long, ByVal TimerNo As Long, ByVal TimeOut As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TimerNo： Specify a timer number. In PCI-8254/58 or PCIe-833x, Timer No is 0. I32 TimeOut： Set 0 to diable watch dog timer. Set a value by N(1 \~ 100) to enable watch dog timer. TimeOut = N \* 100 ms # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret = 0; I32 boardId = 0; //Enable watch dog timer, TimeOut is 2 sec. ret = APS\_wdt\_start( boardId, 0, 20 ); # See also： # APS\_wdt\_get\_timeout\_period Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, PCIe-8364RS # Descriptions： This function is used to get a timeout period of watch dog timer. If timeout period is 0, watch dog timer is disabled. If timeout period is not 0, watch dog timer is enabled. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_wdt\_get\_timeout\_period( I32 Board\_ID, I32 TimerNo, I32 \*TimeOut ); Visual Basic： APS\_wdt\_get\_timeout\_period(ByVal Board\_ID As Long, ByVal TimerNo As Long, TimeOut As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TimerNo： Specify a timer number. In PCI-8254/58 or PCIe-833x, Timer No is 0. I32 TimeOut： 0 means that watch dog timer is disabled. A value N(1 \~ 100) means that watch dog timer is enabled. TimeOut = N \* 100 ms # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret = 0; I32 boardId = 0; I32 timeOut = 0; // Get a timeout period of watch dog timer ret = APS\_wdt\_get\_timeout\_period ( boardId, 0, &timeOut ); # See also： # APS\_wdt\_reset\_counter Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, PCIe-8364RS # Descriptions： This function is reset counter of watch dog timer to 0. The counter adds one count every DSP cycle. When the watch dog timer is enabled, user could periodly reset the counter of watch dog timer to advoid trigger action event. # Syntax： C/C++： I32 FNTYPE APS\_wdt\_reset\_counter( I32 Board\_ID, I32 TimerNo ); Visual Basic： APS\_wdt\_reset\_counter (ByVal Board\_ID As Long, ByVal TimerNo As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TimerNo： Specify a timer number. In PCI-8254/58 or PCIe-833x, Timer No is 0. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret = 0; I32 boardId = 0; //Reset the counter of watch dog timer ret = APS\_wdt\_reset\_counter ( boardId, 0); # See also： # APS\_wdt\_get\_counter Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, PCIe-8364RS # Descriptions： This function is used to get counter of watch dog timer. If enabled, the counter adds one count every DSP cycle. If disabled, the counter shows zero. # Syntax： C/C++： I32 FNTYPE APS\_wdt\_get\_counter( I32 Board\_ID, I32 TimerNo, I32 \*Counter ); Visual Basic： APS\_wdt\_get\_counter (ByVal Board\_ID As Long, ByVal TimerNo As Long, Counter As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TimerNo： Specify a timer number. In PCI-8254/58 or PCIe-833x, Timer No is 0. For PCI-8253/56 ： I32 Counter： If enabled, the counter adds one count every DSP cycle. If disabled, the counter shows zero. For PCIe-833x ： I32 Counter： If enabled, the counter adds one count every system cycle time. If disabled, the counter shows zero. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret = 0; I32 boardId = 0; I32 Counter = 0; // Get the counter of watch dog timer ret = APS\_wdt\_get\_counter ( boardId, 0, &Counter ); # See also： # APS\_wdt\_set\_action\_event Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, PCIe-8364RS # Descriptions： This function is used to set action event of watch dog timer. If time out, action event will be triggered. # Syntax： C/C++： I32 FNTYPE APS\_wdt\_set\_action\_event( I32 Board\_ID, I32 TimerNo, I32 EventByBit ); Visual Basic： APS\_wdt\_set\_action\_event (ByVal Board\_ID As Long, ByVal TimerNo As Long, ByVal EventByBit As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TimerNo： Specify a timer number. In PCI-8254/58 or PCIe-833x, Timer No is 0. For PCI-8253/56 ： I32 EventByBit： Set events Bit0： Motor servo off Bit1： Digital output off Bit2： PWM off For PCIe-833x ： I32 EventByBit： Set events Bit0： All axes invoke EMG stop function Bit1： All digital output of slaves are turned off Bit2： All digital output of slaves are turned on Bit3： All axes invoke servo off function For PCIe-8364RS : I32 EventByBit: Set events Bit0: All axes invoke EMG stop function Bit1: All digital output of slaves are turned off Bit2: All digital output of slaves are turned on Bit3: All axes invoke servo off function # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret = 0; I32 boardId = 0; //Set action event. If time out, motor servo turns off. ret = APS\_wdt\_set\_action\_event( boardId, 0, 1); See also： # APS\_wdt\_get\_action\_event Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, PCIe-8364RS # Descriptions： This function is used to get action event of watch dog timer. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_wdt\_get\_action\_event( I32 Board\_ID, I32 TimerNo, I32 \*EventByBit ); Visual Basic： APS\_wdt\_get\_action\_event (ByVal Board\_ID As Long, ByVal TimerNo As Long, EventByBit As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 TimerNo： Specify a timer number. In PCI-8254/58 or PCIe-833x, Timer No is 0. For PCI-8253/56 ： I32 \*EventByBit： Get events Bit0： Motor servo off Bit1： Digital output off Bit2： PWM off For PCIe-833x ： I32 \*EventByBit： Get events Bit0： All axes invoke EMG stop function Bit1： All digital output of slaves are turned off Bit2： All digital output of slaves are turned on Bit3： All axes invoke servo off function # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret = 0; I32 boardId = 0; I32 EventByBit = 0; // Get action event of watch dog timer ret = APS\_wdt\_get\_action\_event( boardId, 0, &EventByBit ); See also： # 27.VAO/PWM functions ( Laser function ) # APS\_set\_vao\_param Support Products： PCI-8253/56, PCI-8254/58 / AMP-204/8C # Descriptions： The VAO module is a laser control application. It provides analog output and PWM signal according to corresponding linear speed. This function is used to set VAO related parameters. All definitions of VAO parameters are described in VAO parameter table. You can also get VAO parameter setting using “APS\_get\_vao\_param ()” function. # Syntax： C/C++： I32 FNTYPE APS\_set\_vao\_param( I32 Board\_ID, I32 Param\_No, I32 Param\_Val ); Visual Basic： APS\_set\_vao\_param (ByVal Board\_ID As Long, ByVal Param\_No As Long, ByVal Param\_Val As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Param\_No： Parameter number. Refer to VAO parameter table. I32 Param\_Val： Parameter value. Refer to VAO parameter table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; //Set output type of voltage mode to VAO table 0 ret = APS\_set\_vao\_param(Board\_ID, 0x00, 1); # See also： APS\_get\_vao\_param() # APS\_get\_vao\_param Support Products： PCI-8253/56, PCI-8254/58 / AMP-204/8C # Descriptions： The VAO module is a laser control application. It provides analog output and PWM signal according to corresponding linear speed. This function is used to get VAO related parameters. All definitions of VAO parameters are described in VAO parameter table. You can also set VAO parameter using “APS\_set\_vao\_param()” function. # Syntax： C/C++： I32 FNTYPE APS\_get\_vao\_param( I32 Board\_ID, I32 Param\_No, I32 \*Param\_Val ); Visual Basic： APS\_get\_vao\_param(ByVal Board\_ID As Long, ByVal Param\_No As Long, Param\_Val As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Param\_No： Parameter number. Refer to VAO parameter table. I32 Param\_Val： Return parameter value. Refer to VAO parameter table. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Output\_Type; //Get output type of VAO table 0 ret = APS\_set\_vao\_param(Board\_ID, 0x00, &Output\_Type ); # See also： APS\_set\_vao\_param() # APS\_set\_vao\_table Support Products： PCI-8253/56, PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to set a set of VAO table. Users can implement a VAO application according to this table. User configures related minimum velocity, velocity interval, total points, and mapping output value for laser application. Therefore, “Velocity to Power” mapping lookup table will be built. Notice that the mapping output value will be checked according to VAO output type when executing APS\_check\_vao\_param(). If the mapping output value is invalid, it returns “ERR\_ParametersInvalid”. For example, if output type was set to voltage mode, the mapping output voltage cant large than 10000 mV. The range of the mapping output value is described as below： For PCI-8253/56：
Output type (0~3)Output Range(範圍)
0: Voltage0 ~ 10000 mvUnit: 1 mv
1: PWM mode0 ~ 2000(0.0% ~ 100%)Unit: 0.05%
2: PWM frequency mode with fixed width1 ~ 25M HzUnit: 1 Hz
3: PWM frequency mode with fixed duty cycle1 ~ 25M HzUnit: 1 Hz
For PCI-8254/58 / AMP-204/8C：
Output type (0~3)Output Range
0 : Voltage0 ~ 10000 mvUnit : 1 mv
1 : PWM mode0 ~ 2000(0.0% ~ 100%)Unit : 0.05%
2 : PWM frequency mode with fixed width3 ~ 50M HzUnit : 1 Hz
3 : PWM frequency mode with fixed duty cycle3 ~ 50M HzUnit : 1 Hz
# Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_vao\_table( I32 Board\_ID, I32 Table\_No, I32 MinVelocity, I32 VelInterval, I32 TotalPoints, I32 \*MappingDataArray ); Visual Basic： APS\_set\_vao\_table ( ByVal Board\_ID As Long , ByVal Table\_No As Long, ByVal MinVelocity As Long, ByVal VelInterval As Long, ByVal TotalPoints As Long, MappingDataArray As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Table\_No： VAO table number. Range is 0 \~ 7. I32 MinVelocity： Minimum linear speed. I32 VelInterval： Speed interval. I32 TotalPoints ： Total points. Range is 1 \~ 32. I32 \*MappingDataArray： Output data array. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Minimum\_Velocity; I32 Velocity\_Interval; I32 TotalPoints = 32; I32 OutputVoltageData[32]; //Configure linear speed //1st speed： 10000, 2nd speed： 20000, ….., 32th speed： 320000 Minimum\_Velocity = 10000; Velocity\_Interval = 10000; TotalPoints = 32; //Configure mapping output voltage OutputVoltageData[0] = 500; // 1st voltage： 500 mv OutputVoltageData[1] = 600; // 2nd voltage： 600 mv OutputVoltageData[31] = 8600; // 32th voltage： 8600 mv //Set mapping table of Vao table 0 Ret = APS\_set\_vao\_table( Board\_ID, 0, MinVelocity, VelInterval, TotalPoints, OutputVoltageData ); See also： APS\_set\_vao\_param(); APS\_get\_vao\_param(); APS\_switch\_vao\_table( ); APS\_start\_vao() # APS\_set\_vao\_param\_ex Support Products： PCI-8253/56 , PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to set parameters via VAO structure. This is a extension of APS\_set\_vao\_param() and APS\_set\_vao\_table(). By invoking APS\_set\_vao\_param\_ex(), user could set all parameters via VAO structure at once. By invoking APS\_set\_vao\_param(), user could set a specified parameter one by one. This function is also used to set mapping table to replace APS\_set\_vao\_table().User could configure related minimum velocity, velocity interval, total points, and mapping output value for laser application. Then, “Velocity to Power” mapping lookup table will be built. Notice that both functions of APS\_set\_vao\_param() and APS\_set\_vao\_table() could be replaced by APS\_set\_vao\_param\_ex(). This is an option between them. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_vao\_param\_ex( I32 Board\_ID, I32 Table\_No, VAO\_DATA\* VaoData ); Visual Basic： APS\_set\_vao\_param\_ex (ByVal Board\_ID As Integer, ByVal Table\_No As Integer, ByRef VaoData As VAO\_DATA) As Integer # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Table\_No： VAO table number. Range is 0 \~ 7. VAO\_DATA \*VaoData： Vao structure for setting all parameters. Typedef struct \_VAO\_DATA { //Parameters I32 outputType; //Output type, [0, 3] I32 inputType; //Input type, [0, 1] I32 config; //PWM configuration according to output type I32 inputSrc; //Input source by axis, [0, 0xf] //Mapping table I32 minVel; //Minimum linear speed, [ positive ] I32 VelInterval; //Speed interval, [ positive ] I32 totalPoints; //Total points, [1, 32] I32 mappingDataArr[32]; //mapping data array } VAO\_DATA, \*PVAO\_DATA; For PCI-8253/56： VAO\_DATA structure definition for setting VAO parameters
Variable nameDescriptionValue
outputTypeTable output type (*1)0 : Voltage1 : PWM mode2 : PWM frequency mode with fixed width3. PWM frequency mode with fixed duty cycle
inputTypeTable input type0 : Feedback speed1 : Command speed
configConfigure PWM according to output type.a. Mode 0 – Don’t careb. Mode 1 – set a fixed frequency(1 ~ 25M Hz)c. Mode 2 – set a fixed Pulse Width(40 ~ 335544340 ns)d. Mode 3 – set a fixed duty cycle :N * 0.05 %. (N : 1 ~ 2000)
inputSrcSpecify axisID for VAO table.( linear speed on multi- axes )(*2)Bit0 : Axis 0 OnBit1 : Axis 1 OnBit2 : Axis 2 OnBit3 : Axis 3 On
(\*1) ： PCI-8253 don’t support voltage mode. (\*2)： PCI-8253 supports 3 axes. Bit 0, bit 1 and bit 2 are available. VAO\_DATA structure definition for setting VAO mapping table
Variable nameDescriptionValue
minVelMinimum linear speedpositive
velIntervalSpeed intervalpositive
totalPointsTotal points1 ~ 32
mappingDataArrmapping data arrayRefer to following chart
The mapping data of VAO\_DATA structure will be checked according to VAO output type. If the mapping data is invalid, it returns “ERR\_ParametersInvalid”. For example, if output type was set to voltage mode, the mapping output voltage cant large than 10000 mV. The range of mapping data is described as below：
Output type (0~3)Output Range of mapping data
0 : Voltage0 ~ 10000 mvUnit : 1 mv
1 : PWM mode0 ~ 2000(0.0% ~ 100%)Unit : 0.05%
2 : PWM frequency mode with fixed width1 ~ 25M HzUnit : 1 Hz
3 : PWM frequency mode with fixed duty cycle1 ~ 25M HzUnit : 1 Hz
For PCI-8254/58 / AMP-204/8C： VAO\_DATA structure definition for setting VAO parameters
Variable nameDescriptionValue
outputTypeTable output type0 : Voltage1 : PWM mode2 : PWM frequency mode with fixed width3. PWM frequency mode with fixed duty cycle
inputTypeTable input type0 : Feedback speed1 : Command speed
configConfigure PWM according to output type.a. Mode 0 – Don’t careb. Mode 1 – set a fixed frequency(3 ~ 50M Hz)c. Mode 2 – set a fixed Pulse Width(20 ~ 335544300 ns)d. Mode 3 – set a fixed duty cycle :N * 0.05 %. (N : 1 ~ 2000)
inputSrcSpecify axisID for VAO table.( linear speed on multi- axes )Bit0 : Axis 0 OnBit1 : Axis 1 OnBit2 : Axis 2 OnBit3 : Axis 3 On
VAO\_DATA structure definition for setting VAO mapping table
Variable nameDescriptionValue
minVelMinimum linear speedpositive
velIntervalSpeed intervalpositive
totalPointsTotal points1 ~ 32
mappingDataArrmapping data arrayRefer to following chart
The mapping data of VAO\_DATA structure will be checked according to VAO output type. If the mapping data is invalid, it returns “ERR\_ParametersInvalid”. For example, if output type was set to voltage mode, the mapping output voltage cant large than 10000 mV. The range of mapping data is described as below：
Output type (0~3)Output Range of mapping data
0 : Voltage(Reserved)0 ~ 10000 mvUnit : 1 mv
1 : PWM mode0 ~ 2000(0.0% ~ 100%)Unit : 0.05%
2 : PWM frequency mode with fixed width3 ~ 50M HzUnit : 1 Hz
3 : PWM frequency mode with fixed duty cycle3 ~ 50M HzUnit : 1 Hz
# Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; VAO\_DATA VaoData; VaoData. outputType = 1; // PWM mode VaoData. inputType = 0; //Feedback speed VaoData. Config = 1000; // set a fixed frequency of PWM mode, 1000hz VaoData. inputSrc = 0x03; //axis 0 & axis 1 VaoData. minVel = 1000; // Minimum linear speed VaoData. velInterval = 100; //Speed interval VaoData. totalPoints = 2; //Two points //10% \~ 15% of PWM mode VaoData. mappingDataArr[0] = 200; VaoData. mappingDataArr[1] = 300; //Set parameters to table 0 ret = APS\_set\_vao\_param\_ex(Board\_ID, 0, &VaoData); # See also： APS\_get\_vao\_param\_ex(); APS\_switch\_vao\_table(); APS\_start\_vao() # APS\_get\_vao\_param\_ex Support Products： PCI-8253/56 , PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to get parameters via VAO structure. Refer to APS\_set\_vao\_param\_ex() for details. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_vao\_param\_ex( I32 Board\_ID, I32 Table\_No, VAO\_DATA\* VaoData ); Visual Basic： APS\_get\_vao\_param\_ex (ByVal Board\_ID As Integer, ByVal Table\_No As Integer, ByRef VaoData As VAO\_DATA) As Integer # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Table\_No： VAO table number. Range is 0 \~ 7. VAO\_DATA \*VaoData： Vao structure for setting all parameters. Refer to APS\_set\_vao\_param\_ex() for more details. Typedef struct \_VAO\_DATA ```asm { //Parameters I32 outputType; //Output type, [0, 3] I32 inputType; //Input type, [0, 1] I32 config; //PWM configuration according to output type I32 inputSrc; //Input source by axis, [0, 0xf] //Mapping table I32 minVel; //Minimum linear speed, [ positive ] I32 VellInterval; //Speed interval, [ positive ] I32 totalPoints; //Total points, [1, 32] I32 *mappingDataArr; //mapping data array } VAO_DATA, *PVAO_DATA; ``` # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; VAO\_DATA VaoData; //Get VAO param structure of VAO table 0 ret = APS\_get\_vao\_param\_ex(Board\_ID, 0, &VaoData ); # See also： APS\_set\_vao\_param\_ex(); APS\_start\_vao() # APS\_switch\_vao\_table Support Products： PCI-8253/56 # Descriptions： The VAO module is a laser control application. It provides analog output and PWM signal according to corresponding linear speed. This function is used to switch to specified VAO table as following figure. There are up to 8 tables to be configurated. User could switch to each table among them. Only one table is active at the same time. ![Based on the provided flowchart, here is the accurate description of the blocks and connections:\n\n**Blocks and Text:**\n\n* **Top Section Title:** 'Vao Table Component'\n* **Circles (Tables):**\n * 'Table 0'\n * 'Table 1'\n * 'Table 2'\n * 'Table 3'\n * 'Table N' (contains the text 'Up to 8 Tables')\n* **Instruction Text:** 'Switch among tables. Only one table is active at the same time.'\n* **Function Library Text (Top Right):**\n * 'Function lib:'\n * 'APS_set_vao_param'\n * 'APS_set_vao_table'\n * 'APS_switch_vao_table'\n * 'APS_get_vao_status'\n * 'APS_set_vao_param_ex'\n* **Bottom Section Title:** 'Vao Output Component'\n* **Process Box:**\n * '1. Enable Vao output'\n * '2. Set PWM width'\n * '3. Set PWM frequency'\n* **Function Library Text (Bottom Right):**\n * 'Function lib:'\n * 'APS_start_vao'\n* **Output Labels:** 'PWM 0' and 'PWM 1'\n\n**Connections:**\n\n* **Table Selection:** A solid arrow originates from the 'Table 0' circle and points downwards. A dashed arrow originates from the 'Table 3' circle and points downwards. These arrows indicate the switching mechanism described in the text and converge to point towards the process box in the lower section.\n* **Output Generation:** Two arrows originate from the bottom of the process box ('1. Enable Vao output...'). One arrow points to 'PWM 0' and the other points to 'PWM 1'.](.aps-functionlibrary-v2-1/d9a42cb57e0d99d319d2121abd46c49f4ade04d98f367348cec51e944e8a4fed.jpg) Notice that if point table is running on this point, it will automatically switch to the specified table by setting “opt” variable. Refer to APS\_set\_point\_table(). In the other way, user also could manually switch to specified table by APS\_switch\_vao\_table(). # Syntax： C/C++： I32 FNTYPE APS\_switch\_vao\_table( I32 Board\_ID, I32 Table\_No ); Visual Basic： APS\_switch\_vao\_table(ByVal Board\_ID As Long, ByVal Table\_No As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Table\_No： VAO table number. 0 \~ 7： Table number. -1： Disable all tables. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; ret = APS\_switch\_vao\_table( Board\_ID, 0 ); //Swtich to table 0 # See also： APS\_set\_vao\_param(); APS\_get\_vao\_param(); APS\_set\_vao\_table (); APS\_start\_vao() # APS\_start\_vao Support Products： PCI-8253/56 , PCI-8254/58 / AMP-204/8C # Descriptions： The VAO module is a laser control application. It provides analog output and PWM signal according to corresponding linear speed. This function is used to enable VAO output channel as following figure. When VAO Output is enabling, analog voltage or PWM signal will output continuously according to corresponding linear speed. User could also use APS\_start\_vao() to disable VAO output channel. ![This diagram is divided into two sections by a horizontal line: the 'Vao Table Component' at the top and the 'Vao Output Component' at the bottom.\n\n**Top Section: Vao Table Component**\n* **Blocks:** Five circles are arranged horizontally labeled 'Table 0', 'Table 1', 'Table 2', 'Table 3', and 'Table N' (which includes the text 'Up to 8 Tables').\n* **Text:** Below the circles is the text: 'Switch among tables. Only one table is active at the same time.'\n* **Function Library:** To the right is a list under 'Function lib:':\n * APS_set_vao_param\n * APS_set_vao_table\n * APS_switch_vao_table\n * APS_get_vao_status\n * APS_set_vao_param_ex\n* **Connections:** A solid arrow originates from 'Table 0' and a dashed arrow originates from 'Table 3'. Both arrows converge and point downward into the section below.\n\n**Bottom Section: Vao Output Component**\n* **Blocks:** A large rectangular box contains the text:\n * 1. Enable Vao output\n * 2. Set PWM width\n * 3. Set PWM frequency\n* **Function Library:** To the right of the box is 'Function lib: APS_start_vao'.\n* **Connections:** Two arrows originate from the bottom of the large rectangular box pointing downward to 'PWM 0' and 'PWM 1'.](.aps-functionlibrary-v2-1/2d982d96b95463393cdce133fb59cfb7ecaa9b1dffa8214bff5dfb4b194eb240.jpg) # Syntax： $$ C / C + +: $$ I32 FNTYPE APS\_start\_vao( I32 Board\_ID, I32 Output\_Ch, I32 Enable ); Visual Basic： APS\_start\_vao (ByVal Board\_ID As Long, ByVal Output\_Ch As Long, ByVal Enable As Long) As Long # Parameters： For PCI-8253/56： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Output\_Ch： PWM or Analog channel. Range is 0 \~ 1. 0： PWM channel 0 or Aout 4 1： PWM channel 1 or Aout 5 I32 Enable： Enable specified channel to output PWM/Voltage. 0： Disable. 1： Enable For PCI-8254/58 / AMP-204/8C： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Output\_Ch： PWM or Analog channel. Range is 0 \~ 5. 0： PWM channel 0 1： PWM channel 1 2： PWM channel 2 (only 8258) 3： PWM channel 3 (only 8258) 4： Analog output 3 (Pulse mode) 5： Analog output 7 (Pulse mode) I32 Enable： Enable specified channel to output PWM/Voltage. 0： Disable. 1： Enable # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; ret = APS\_start\_vao( Board\_ID, 0, 1 ); // Enable PWM channel 0 to output # See also： APS\_set\_vao\_param();APS\_get\_vao\_param(); APS\_set\_vao\_table ();APS\_switch\_vao\_table() # APS\_get\_vao\_status Support Products： PCI-8253/56 , PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to get VAO status. User could monitor which table is active and which PWM is enabling as following figure. ![The diagram illustrates a system architecture divided into two horizontal sections.\n\n**Vao Table Component**\nThe top section contains five circular blocks labeled sequentially:\n* **Table 0**\n* **Table 1**\n* **Table 2**\n* **Table 3**\n* **Table N** (subtext: **Up to 8 Tables**)\n\nBetween the circles and the bottom section, text reads: 'Switch among tables. Only one table is active at the same time.' To the right, a library list is provided:\n**Function lib:**\n**APS_set_vao_param**\n**APS_set_vao_table**\n**APS_switch_vao_table**\n**APS_get_vao_status**\n**APS_set_vao_param_ex**\n\n**Vao Output Component**\nA single downward arrow connects the top section to the lower section, labeled 'Vao Output Component.' This area features a rectangular block containing three steps:\n**1. Enable Vao output**\n**2. Set PWM width**\n**3. Set PWM frequency**\n\nTo the right of the block, the text reads: 'Function lib: APS_start_vao'. Finally, two downward arrows extend from the rectangular block to the output labels **PWM 0** and **PWM 1**.](.aps-functionlibrary-v2-1/347715a57c121b48f6b8e6ba95d69995410a30298710082fb02104fe7a1e72c0.jpg) # Syntax： C/C++： I32 FNTYPE APS\_get\_vao\_status( I32 Board\_ID, I32 \*Status ); Visual Basic： APS\_get\_vao\_status (ByVal Board\_ID As Long, Status As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 \*Status： Get VAO status by bit. Bit 0\~7： Table 0\~7 is active. Bit 8\~15： Reserved Bit 16： PWM 0 or Analog 4 is enabling. Bit 17： PWM 1 or Analog 5 is enabling. Bit 18\~： Reserved # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 status; //Get VAO status. Ret = APS\_get\_vao\_status(Board\_ID, &status ); See also： APS\_start\_vao( ); APS\_switch\_vao\_table( ); APS\_start\_vao # APS\_check\_vao\_param Support Products： PCI-8253/56 , PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to check table parameters of specidied VAO table. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_check\_vao\_param( I32 Board\_ID, I32 Table\_No, I32 \*Status ); Visual Basic： APS\_check\_vao\_param (ByVal Board\_ID As Long, ByVal Table\_No As Long, Status As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 Table\_No： VAO table number. Range is 0 \~ 7. I32 \*Status： The checking status of parameters. Refer to VAO parameter table definition. 0： No any parameters error 1： Parameter of table input type is out of range. (VAO\_TABLE\_ INPUT \_TYPE) 2： Parameter of table output type is out of range. (VAO\_TABLE\_OUTPUT\_TYPE) 3： Parameter of table input source is out of range. (VAO\_TABLE\_SRC) 4： Parameter of table pwm perationion is out of range.(VAO\_TABLE\_PWM\_CONFIG) 5： Mapping table data is out of range. ( Refer to APS\_set\_vao\_table() ) # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 Sts; // Check parameters setting of specified VAO table // Check parameters setting of VAO table 0 ret = APS\_check\_vao\_param (Board\_ID, 0, & Sts ); See also： APS\_set\_vao\_param(); APS\_set\_vao\_table() # APS\_set\_pwm\_on Support Products： PCI-8253/56 , PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to output PWM signal. It is applied to activate laser, trigger, etc. There are two PWM channels which are TRG1 and TRG2 on main connector Note that the PWM output (TRG) is used by two function APIs, that are APS\_set\_pwm\_on() and APS\_start\_vao() . Don’t mix using them at the same time. Be sure that only one of them is enabled, specified PWM channel could rightly work. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_pwm\_on( I32 Board\_ID, I32 PWM \_Ch, I32 PWM\_On ); Visual Basic： APS\_set\_pwm\_on( ByVal Board\_ID As Long , ByVal PWM\_Ch As Long , ByVal PWM\_On As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PWM\_Ch： PWM output channel (TRG) number. Zero based. Range is from 0 to 1. I32 PWM\_On： 0： PWM OFF, 1： PWM ON # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt I32 ret; I32 PWM_Ch = 0; //TRG 0 is used I32 Width = 2000 ns; //Pulse width is 2 us. I32 Frequency = 10000 Hz; //pulse frequency is 10K Hz. ``` ```txt // Set pulse width to PWM channel 0 ret = APS_set_pwm_width( Board_ID, PWM_Ch, Width ); // Set pulse frequency to PWM channel 0 ret = APS_set_pwm_frequency( Board_ID, PWM_Ch, Frequency ); // Output PWM signal to activate laser ret = APS_set_pwm_on ( Board_ID, PWM_Ch, 1 ); ``` // Stop outputting PWM signal Ret = APS\_set\_pwm\_on ( Board\_ID, PWM\_Ch, 0 ); See also： APS\_set\_pwm\_width();APS\_set\_pwm\_frequency();APS\_get\_pwm\_width(); APS\_get\_pwm\_frequency() # APS\_set\_pwm\_width Support Products： PCI-8253/56 , PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to set pulse width to specialized PWM channel. For PCI-8253/56 ： Note that the range of pulse width is form 40 to 335544340. The unit is nano-second. The resolution of pulse width is 20 ns. For PCI-8254/58 / AMP-204/8C： Note that the range of pulse width is form 20 to 335544300. The unit is nano-second. The resolution of pulse width is 20 ns. # Syntax： C/C++： I32 FNTYPE APS\_set\_pwm\_width( I32 Board\_ID, I32 PWM \_Ch, I32 Width ); Visual Basic： I32 FNTYPE APS\_set\_pwm\_width( ByVal Board\_ID As Long , ByVal PWM\_Ch As Long , ByVal Width As Long ) As Long # Parameters： For PCI-8253/56 ： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PWM\_Ch： PWM output channel (TRG) number. Zero based. Range is from 0 to 1. I32 Width： Pulse width. Unit： ns. Range is from 40 to 335544340. For PCI-8254/58 / AMP-204/8C： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PWM\_Ch： PWM output channel (TRG) number. Zero based. Range is from 0 to 1. I32 Width： Pulse width. Unit： ns. Range is from 20 to 335544300. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 PWM\_Ch = 0; // TRG 0 is used. I32 Width = 2000 ns; //Pulse width is 2 us. // Set pulse width to PWM channel 0 ret = APS\_set\_pwm\_width( Board\_ID, PWM\_Ch, Width ); # See also： APS\_set\_pwm\_on(); APS\_set\_pwm\_frequency(); APS\_get\_pwm\_width(); APS\_get\_pwm\_frequency() # APS\_set\_pwm\_frequency Support Products： PCI-8253/56, PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to set pulse frequency to specialized PWM channel. For PCI-8253/56： Note that the range of pulse frequency is form 1 to 25000000. The unit is Hz. It may have slightly offset between actual output frequency and the frequency you set. The actual frequency is according to following formula： $$ \text { Frequency } = \frac {1 0 0 , 0 0 0 , 0 0 0}{2 \times N + 4} $$ N： 0 \~ 2147483647 (a positive 32 bit value) For example, User could set the frequency = 10005 Hz to the card by this function. In side the function, It get the N = 4988 from the formula and send it to the controller, and the actual frequency output from the PWM will be 10000 Hz (According above formula). For PCI-8254/58 / AMP-204/8C： Note that the range of pulse frequency is form 3 to 50,000,000. The unit is Hz. It may have slightly offset between actual output frequency and the frequency you set. The actual frequency is according to following formula： $$ \text { Frequency } = \frac {1 , 0 0 0 , 0 0 0 , 0 0 0}{2 0 \times N} $$ N： 0 \~ 16777215 (a positive 32 bit value) For example, User could set the frequency = 10005 Hz to the card by this function. In side the function, It get the N = 5000 from the formula and send it to the controller, and the actual frequency output from the PWM will be 10000 Hz (According above formula). # Syntax： $$ C / C + +: $$ I32 FNTYPE APS\_set\_pwm\_frequency( I32 Board\_ID, I32 PWM \_Ch, I32 Frequency ); Visual Basic： APS\_set\_pwm\_frequency( ByVal Board\_ID As Long , ByVal PWM\_Ch As Long , ByVal Frequency As Long ) As Long # Parameters： For PCI-8253/56： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PWM\_Ch： PWM output channel (TRG) number. Zero based. Range is from 0 to 1. I32 Frequency： Pulse frequency. Unit： Hz. Range is from 1 to 25000000. For PCI-8254/58 / AMP-204/8C： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PWM\_Ch： PWM output channel (TRG) number. Zero based. Range is from 0 to 1. I32 Frequency： Pulse frequency. Unit： Hz. Range is from 3 to 50000000. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 PWM\_Ch = 0; // TRG 0 is used. I32 Frequency = 10000 Hz; //Pulse frequency is 10k Hz. // Set pulse frequency to PWM channel 0 ret = APS\_set\_pwm\_ frequency( Board\_ID, PWM\_Ch, Frequency); # See also： APS\_set\_pwm\_on(); APS\_set\_pwm\_width(); APS\_get\_pwm\_width(); APS\_get\_pwm\_frequency() # APS\_get\_pwm\_width Support Products： PCI-8253/56 , PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to get pulse width from specialized PWM channel. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_pwm\_width( I32 Board\_ID, I32 PWM \_Ch, I32 \*Width ); Visual Basic： I32 FNTYPE APS\_get\_pwm\_width( ByVal Board\_ID As Long , ByVal PWM\_Ch As Long , Width As Long ) As Long # Parameters： ```txt For PCI-8253/56 : ``` I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PWM\_Ch： PWM output channel (TRG) number. Zero based. Range is from 0 to 1. I32 Width： Pulse width. Unit： ns. Range is from 40 to 335544340. ```txt For PCI-8254/58 / AMP-204/8C : ``` I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PWM\_Ch： PWM output channel (TRG) number. Zero based. Range is from 0 to 1. I32 Width： Pulse width. Unit： ns. Range is from 20 to 335544300. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 PWM\_Ch = 0; // TRG 0 is used. I32 Width; // Get pulse width from PWM channel 0 ret = APS\_get\_pwm\_width( Board\_ID, PWM\_Ch, &Width ); See also： APS\_set\_pwm\_on(); APS\_set\_pwm\_width(); APS\_set\_pwm\_frequency(); APS\_get\_pwm\_frequency() # APS\_get\_pwm\_frequency Support Products： PCI-8253/56 , PCI-8254/58 / AMP-204/8C # Descriptions： This function is used to get pulse frequency from specialized PWM channel. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_pwm\_frequency( I32 Board\_ID, I32 PWM \_Ch, I32 \*Frequency ); Visual Basic： APS\_get\_pwm\_frequency( ByVal Board\_ID As Long , ByVal PWM\_Ch As Long , Frequency As Long ) As Long # Parameters： For PCI-8253/56： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PWM\_Ch： PWM output channel (TRG) number. Zero based. Range is from 0 to 1. I32 Frequency： Pulse frequency. Unit： Hz. Range is from 1 to 25000000. For PCI-8254/58 / AMP-204/8C： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 PWM\_Ch： PWM output channel (TRG) number. Zero based. Range is from 0 to 1. I32 Frequency： Pulse frequency. Unit： Hz. Range is from 3 to 50000000. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; I32 PWM\_Ch = 0; // TRG 0 is used. I32 Frequency; // Get pulse frequency from PWM channel 0 ret = APS\_get\_pwm\_ frequency( Board\_ID, PWM\_Ch, &Frequency); See also： APS\_set\_pwm\_on(); APS\_set\_pwm\_frequency(); APS\_set\_pwm\_width(); APS\_get\_pwm\_width() # 28.Circular limit functions # APS\_set\_circular\_limit Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT Descriptions： Set configuration for circular limit. Syntax： C/C++： I32 FNTYPE APS\_set\_circular\_limit (I32 Axis\_A, I32 Axis\_B, F64 Center\_A, F64 Center\_B, F64 Radius, I32 Stop\_Mode, I32 Enable); Visual Basic： APS\_set\_circular\_limit (ByVal Axis\_ID\_A As Integer, ByVal Axis\_ID\_B As Integer, ByVal Center\_A As Double, ByVal Center\_B As Double, ByVal Radius As Double, ByVal Stop\_mode As Integer, ByVal Enable As Integer) As Integer Parameters： I32 Axis\_A： axis ID 0\~7 I32 Axis\_B： axis ID 0\~7 F64 Center\_A： Center position of Axis\_A. F64 Center\_B： Center position of Axis\_B. F64 Radius： Distance between circular limit boundary and center. I32 Stop\_Mode： Only Axis\_A and Axis\_B stop or all axes stop when circular limit is triggered. I32 Enable： 0： Disable circular limit; 1： Enable circular limit Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ret = APS\_initial( &BoardID, 0 ); // Set servo on ret = APS\_set\_servo\_on( 0, 1 ); ret = APS\_set\_servo\_on( 1, 1 ); // Set command ```c ret = APS_set_command(0, 0); ret = APS_set_command(1, 0); ``` ```txt // Enable circular limit ret = APS_set_circular_limit(0, 1, 0, 0, 100, 1, 1); ``` ```c // Set interrupt Int_No = APS_set_int_factor(0, 0, 17, 1); //Enable the interrupt factor APS_int_enable(0, 1); //Enable the interrupt main switch // Start move ret = APS_relative_move(0, 500, 1000); ``` ```cpp // Wait interrupt returnCode = APS_wait_single_int( Int_No, -1 ); if( returnCode == ERR_NoError ) { //Interrupt occurred APS_reset_int( Int_No ); } ``` ```c // Disable circular limit ret = APS_set_circular_limit(0, 1, 0, 0, 100, 1, 0); ``` See also： APS\_get\_circular\_limit() # APS\_get\_circular\_limit Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT # Descriptions： Get configuration for circular limit. # Syntax： C/C++： I32 FNTYPE APS\_get\_circular\_limit (I32 Axis\_A, I32 Axis\_B, F64 \*Center\_A, F64 \*Center\_B, F64 \*Radius, I32 \*Stop\_Mode, I32 \*Enable); Visual Basic： APS\_get\_circular\_limit (ByVal Axis\_ID\_A As Integer, ByVal Axis\_ID\_B As Integer, ByRef Center\_A As Double, ByRef Center\_B As Double, ByRef Radius As Double, ByRef Stop\_mode As Integer, ByRef Enable As Integer) As Integer # Parameters： I32 Axis\_A： axis ID 0\~7 I32 Axis\_B： axis ID 0\~7 F64 \*Center\_A： Center position of Axis\_A. F64 \*Center\_B： Center position of Axis\_B. F64 \*Radius： Distance between circular limit boundary and center. I32 \*Stop\_Mode： Only Axis\_A and Axis\_B stop or all axes stop when circular limit is triggered. I32 \*Enable： 0： Disable circular limit; 1： Enable circular limit # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： # See also： APS\_set\_circular\_limit() # 29.Simultaneous move functions # APS\_set\_absolute\_simultaneous\_move Support Products： MNET-4XMO-(C), PCIe-8154/8158, PCI-C154(+), AMP-304C # Descriptions： The function is used to setup an absolute simultaneous move. User could setup specified axes to implement simultaneous move. The parameters of Distance\_Array and Max\_Speed\_Array are applied to specified axes. After that, user could invoke “APS\_start\_simultaneous\_move()/APS\_stop\_simultaneous\_move()” to start/stop simultaneous operation for starting/stopping specified axes at the same time. Note： The axes specified in Axis\_ID\_Array must be of the same card/module. # Syntax： C/C++： I32 FNTYPE APS\_set\_absolute\_simultaneous\_move( I32 Dimension, I32 \*Axis\_ID\_Array, I32 \*Position\_Array, I32 \*Max\_Speed\_Array ); Visual Basic： APS\_set\_absolute\_simultaneous\_move ( ByVal Dimension As Long, Axis\_ID\_Array As Long, Position\_Array As Long, Max\_Speed\_Array As Long ) As Long # Parameters： I32 Dimension： The dimension of simultaneous axes. (1\~4 axes) I32 \*Axis\_ID\_Array： The axis ID array from 0 to 65535. I32 Position\_Array： Absolute position array. (unit： pulse) I32 Max\_Speed\_Array： Maximum speed array. (unit： pulse/sec) # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： //…Initial card I32 Dimension = 4; I32 Axis\_ID\_Array[4] = { 0, 1, 2, 3}; I32 Position\_Array = {10000, 10000, 10000, 10000}; I32 Max\_Speed\_Array = {10000, 10000, 10000, 10000}; I32 Ret; ```c // Setup a absolute simultaneous move Ret = APS_set_absolute_simultaneous_move (Dimension, Axis_ID_Array, Position_Array, Max_Speed_Array); // Start a simultaneous move Ret = APS_start_simultaneous_move( Axis_ID_Array[0] ); ... // Stop a simultaneous move Ret = APS_stop_simultaneous_move( Axis_ID_Array[0] ); ``` # See also： APS\_set\_relative\_simultaneous\_move();APS\_start\_simultaneous\_move(); APS\_stop\_simultaneous\_move() # APS\_set\_relative\_simultaneous\_move Support Products： MNET-4XMO-(C), PCIe-8154/8158, PCI-C154(+), AMP-304C # Descriptions： The function is used to setup a relative simultaneous move. User could setup specified axes to implement simultaneous move. The parameters of Distance\_Array and Max\_Speed\_Array are applied to specified axes. After that, user could invoke “APS\_start\_simultaneous\_move()/APS\_stop\_simultaneous\_move()” to start/stop a simultaneous operation for starting/stopping specified axes at the same time. Note： The axes specified in Axis\_ID\_Array must be of the same card/module. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_set\_relative\_simultaneous\_move( I32 Dimension, I32 \*Axis\_ID\_Array, I32 \*Distance\_Array, I32 \*Max\_Speed\_Array ); Visual Basic： APS\_set\_relative\_simultaneous\_move ( ByVal Dimension As Long, Axis\_ID\_Array As Long, Distance\_Array As Long, Max\_Speed\_Array As Long ) As Long # Parameters： I32 Dimension： The dimension of simultaneous axes. (1\~4 axes) I32 \*Axis\_ID\_Array： The axis ID array from 0 to 65535. I32 Distance\_Array： Relative distance array. (unit： pulse) I32 Max\_Speed\_Array： Maximum speed array. (unit： pulse/sec) # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt //...Initial card ``` I32 Dimension = 4; I32 Axis\_ID\_Array[4] = { 0, 1, 2, 3}; I32 Distance\_Array = {10000, 10000, 10000, 10000}; I32 Max\_Speed\_Array = {10000, 10000, 10000, 10000}; I32 Ret; // Setup a relative simultaneous move Ret = APS\_set\_relative\_simultaneous\_move ( Dimension, Axis\_ID\_Array, Distance\_Array, Max\_Speed\_Array ); // Start a simultaneous move Ret = APS\_start\_simultaneous\_move( Axis\_ID\_Array[0] ); // Stop a simultaneous move Ret = APS\_stop\_simultaneous\_move( Axis\_ID\_Array[0] ); # See also： APS\_set\_absolute\_simultaneous\_move();APS\_start\_simultaneous\_move();APS\_stop\_simultaneous\_move() # APS\_start\_simultaneous\_move Support Products： MNET-4XMO-(C), PCIe-8154/8158, PCI-C154(+), AMP-304C # Descriptions： The function is used to start a simultaneous operation for starting specified axes at the same time. # Syntax： ```txt C/C++ ``` I32 FNTYPE APS\_start\_simultaneous\_move ( I32 Axis\_ID ); Visual Basic： APS\_start\_simultaneous\_move ( ByVal Axis\_ID As Long ) As Long # Parameters： I32 Axis\_ID： Specify first axis of simultaneous axes. The Axis ID is from 0 to 65535. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt //...Initial card ``` I32 Dimension = 4; I32 Axis\_ID\_Array[4] = { 0, 1, 2, 3}; I32 Distance\_Array = {10000, 10000, 10000, 10000}; I32 Max\_Speed\_Array = {10000, 10000, 10000, 10000}; I32 Ret; ```txt // Setup a relative simultaneous move ``` Ret = APS\_set\_relative\_simultaneous\_move ( Dimension, Axis\_ID\_Array, Distance\_Array, Max\_Speed\_Array ); // Start a simultaneous move Ret = APS\_start\_simultaneous\_move( Axis\_ID\_Array[0] ); // Stop a simultaneous move Ret = APS\_stop\_simultaneous\_move( Axis\_ID\_Array[0] ); See also： APS\_set\_absolute\_simultaneous\_move();APS\_set\_relative\_simultaneous\_move(); APS\_stop\_simultaneous\_move() # APS\_stop\_simultaneous\_move Support Products： MNET-4XMO-(C), PCIe-8154/8158, PCI-C154(+), AMP-304C # Descriptions： The function is used to stop a simultaneous operation for stopping specified axes at the same time. # Syntax： ```txt C/C++ ``` I32 FNTYPE APS\_stop\_simultaneous\_move ( I32 Axis\_ID ); Visual Basic： APS\_stop\_simultaneous\_move ( ByVal Axis\_ID As Long ) As Long # Parameters： I32 Axis\_ID： Specify first axis of simultaneous axes. The Axis ID is from 0 to 65535. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt //...Initial card ``` ```txt 132 Dimension = 4; ``` ```c I32 Axis_ID_Array[4] = {0, 1, 2, 3}; ``` ```javascript I32 Distance_Array = {10000, 10000, 10000, 10000}; ``` ```javascript I32 Max_Speed_Array = {10000, 10000, 10000, 10000}; ``` ```txt 132 Ret; ``` ```txt // Setup a relative simultaneous move ``` ```txt Ret = APS_set_relative_simultaneous_move ( Dimension, Axis_ID_Array, Distance_Array, Max_Speed_Array ); ``` ```txt // Start a simultaneous move ``` ```txt Ret = APS_start_simultaneous_move(Axis_ID_Array[0]); ``` ```txt ... ``` ```txt // Stop a simultaneous move ``` ```txt Ret = APS_stop_simultaneous_move( Axis_ID_Array[0] ); ``` # See also： APS\_set\_absolute\_simultaneous\_move();APS\_set\_relative\_simultaneous\_move(); APS\_start\_simultaneous\_move() # 30.Single latch functions # APS\_manual\_latch2 Support Products：MNET-4XMO-(C), MNET-1XMO, PCI(e)-8154/8158, PCI-8102/PCI-C154(+) # Descriptions： The function is used to produce a manual latch signal. # Syntax： C/C++： I32 FNTYPE APS\_manual\_latch2( I32 Axis\_ID ); Visual Basic： APS\_manual\_latch2 ( ByVal Axis\_ID As Long ) As Long # Parameters： I32 Axis\_ID： The axis ID array from 0 to 65535. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 axisID = 0; I32 ret = 0; I32 LatchData = 0; ret = APS\_manual\_latch2( axisID ); //latch data is command counter ret = APS\_get\_latch\_data2( axisID, 0, &LatchData ); # See also： APS\_get\_latch\_data2() # APS\_get\_latch\_data2 Support Products： MNET-4XMO(C), MNET-1XMO, PCI(e)-8154/8158, PCI-8102/PCI-C154(+) # Descriptions： The function is used to get latch data. There are two methods to latch data. One is input signal from physical latch pin. The other is internal latch signal from manual latch. There are four kinds of data including that user could latch. They are： 1. Command counter (Command position) 2. Feedback counter (Feedback position) 3. Error counter ( Error position ) / current speed 4. General-purpose counter # Syntax： C/C++： I32 FNTYPE APS\_get\_latch\_data2( I32 Axis\_ID, I32 LatchNum, I32 \*LatchData ); Visual Basic： APS\_get\_latch\_data2 ( ByVal Axis\_ID As Long ) As Long # Parameters： I32 Axis\_ID： The axis ID array from 0 to 65535. I32 LatchNum： 0： Command counter 1： Feedback counter 2： Error counter / Current speed (via axis parameter 22Dh PRA\_LATCH\_DATA\_SPD ) 3： General-purpose counter I32 \*LatchData： Latch data # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 axisID = 0; I32 ret = 0; I32 LatchData = 0; ```lisp ret = APS_manual_latch2(axisID); //latch data is command counter ret = APS_get_latch_data2(axisID, 0, &LatchData); ``` See also： APS\_manual\_latch2() # 31.Multi-latch functions # APS\_set\_ltc\_counter Support Products： PCI-C154(+) Descriptions： The function is used to set encoder counter value. Syntax： C/C++： I32 FNTYPE APS\_set\_ltc\_counter ( I32 Board\_ID, I32 LtcCh, I32 CntValue ); Visual Basic： APS\_set\_ltc\_counter ( ByVal Board\_ID As Long, ByVal LtcCh As Long, ByVal CntValue As Long ) As Long Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 LtcCh： The specified channel number. I32 CntValue： The encoder (counter) value. Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： I32 Board\_ID = 0; I32 ret = 0; //Set latch counter 0 to 100 ret = APS\_set\_ltc\_counter ( Board\_ID, 0, 100 ); See also： APS\_get\_ltc\_counter () # APS\_get\_ltc\_counter Support Products： PCI-C154(+) Descriptions： The function is used to get encoder counter value. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_latch\_counter ( I32 Board\_ID, I32 LtcCh, I32 \*CntValue ); Visual Basic： APS\_get\_latch\_counter ( ByVal Board\_ID As Long, ByVal LtcCh As Long, CntValue As Long ) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 LtcCh： The specified channel number. I32 CntValue： The encoder (counter) value. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt I32 Board_ID = 0; ``` ```txt 132 ret = 0; ``` ```txt 132 CntValue= 0; ``` //Get counter value from latch counter 0 ret = APS\_get\_ltc\_counter ( Board\_ID, 0, &CntValue ); # See also： APS\_set\_ltc\_counter () # APS\_set\_ltc\_fifo\_param Support Products： PCI-C154(+), PCI-8254/58 / AMP-204/8C, AMP-104C, AMP-304C, PCIe-8364RS # Descriptions： This function is used to set all kinds of latch parameter. Please refer to the latch parameter table for the definition and detail descriptions. # Syntax： C/C++ I32 FNTYPE APS\_set\_ltc\_fifo\_param( I32 Board\_ID, I32 FLtcCh, I32 Param\_No, I32 Param\_Val ); Visual Basic： APS\_set\_ltc\_fifo\_param (ByVal Board\_ID As Long, ByVal FLtcCh As Long, ByVal Param\_No As Long, ByVal Param\_Val As Long ) As Long # Parameters： For PCI-C154(+)/AMP-104C： I32 Board\_ID： The Board’s ID from 0 to 31. I32 FLtcCh： The specified latch channel. I32 Param\_No： Latch parameter number. Please refer the latch parameter table for definition. I32 Param\_Val： Latch parameter value. Refer to the latch parameter table for detail. For PCI-8254/58 / AMP-204/8C, AMP-304C： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 FLtcCh： The range of latch channel is 0\~3 I32 Param\_No： Latch parameter number; Please refer the latch parameter table for definition. I32 Param\_Val： Latch parameter value. Refer to the latch parameter table for detail. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Board\_ID = 0; I32 ret = 0; //Set encoder input mode(0x00) to 4xAB-Phase(4) in channel 0 ret = APS\_set\_ltc\_fifo\_param ( Board\_ID, 0, 0, 4 ); See also： APS\_get\_ltc\_fifo\_param () # APS\_get\_ltc\_fifo\_param Support Products： PCI-C154(+), PCI-8254/58 / AMP-204/8C, AMP-104C, AMP-304C, PCIe-8364RS # Descriptions： This function is used to get all kinds of latch parameter. Please refer to the latch parameter table for the definition and detail descriptions. # Syntax： C/C++： I32 FNTYPE APS\_get\_ltc\_fifo\_param( I32 Board\_ID, I32 FLtcCh, I32 Param\_No, I32 \*Param\_Val ); Visual Basic： APS\_get\_ltc\_fifo\_param (ByVal Board\_ID As Long, ByVal FLtcCh As Long, ByVal Param\_No As Long, Param\_Val As Long) As Long # Parameters： For PCI-C154(+)/ AMP-104C： I32 Board\_ID： The Board’s ID from 0 to 31. I32 FLtcCh： The specified latch channel. I32 Param\_No： Latch parameter number. Please refer the latch parameter table for definition. I32 \*Param\_Val： Latch parameter value. Refer to the latch parameter table for detail. For PCI-8254/58 / AMP-204/8C： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 FLtcCh： The range of latch channel is 0\~3 I32 Param\_No： Latch parameter number; Please refer the latch parameter table for definition. I32 Param\_Val： Latch parameter value. Refer to the latch parameter table for detail. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Board\_ID = 0; I32 ret = 0; I32 Param\_Val = 0; //Get encoder input mode(0x00) in channel 0 ret = APS\_get\_ltc\_fifo\_param ( Board\_ID, 0, 0, &Param\_Val ); See also： APS\_set\_ltc\_fifo\_param () # APS\_manual\_latch Support Products： PCI-C154(+) # Descriptions： This function is used to latch data manually. It is designed to latch one or more channels synchronously. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_manual\_latch ( I32 Board\_ID, I32 LtcChInBit ); Visual Basic： APS\_manual\_latch ( ByVal Board\_ID As Long, ByVal LtcChInBit As Long) As Long # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 LtcChInBit： The specified latch channel by bit. Bit 0： Channel 0, Bit 1： Channel 1, …, Bit 8： Channel 8 # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; //Latch data of channel 0 \~ 3 synchronously. ret = APS\_manual\_latch( Board\_ID, 0xf ); # See also： # APS\_enable\_ltc\_fifo Support Products： PCI-C154(+), PCI-8254/58 / AMP-204/8C # Descriptions： For PCI-C154(+) , this function is used to enable/disable latch fifo. Once it is disabled, Latch pin will ignore any latch signal. Users must enable this function before using any latch relative functions and disable this function when users do not use latch anymore. The latch fifo can store up to 258 (PCI-C154+)pieces of latch data, user could monitor fifo status and get latch data. For PCI-8254/58 / AMP-204/8C , this function is used to enable position latch process. Figure 1 shows the position latch module architecture. There are four position latch channels and each of them has dedicated FIFO and queue. User has to specify the trigger source and encoder no. for position latch channel. The trigger source can be digital input signals or PWM pulse out. The rising, falling or both edge trigger modes are also supported here. These setting can be configured by the latch parameter table. ![This block diagram illustrates a data processing pipeline flowing from right to left, involving hardware components (FPGA, DSP) and a software application.\n\n**Labeled Blocks:**\n* **Leftmost Block:** A large beige rectangle labeled **'User Application'**.\n* **DSP Section (Left Dashed Box):** Labeled **'DSP'** at the bottom. It contains four blocks stacked vertically:\n * **'Queue 0'**\n * **'Queue 1'**\n * **'Queue 2'**\n * **'Queue 3'**\n* **FPGA Section (Right Dashed Box):** Labeled **'FPGA'** at the bottom. It contains two columns of blocks:\n * **FIFO Column:** **'FIFO 0'**, **'FIFO 1'**, **'FIFO 2'**, **'FIFO 3'** (stacked vertically).\n * **Position Latch Column:** **'Position latch Ch0'**, **'Position latch Ch1'**, **'Position latch Ch2'**, **'Position latch Ch3'** (stacked vertically).\n\n**Connections and Inputs:**\n* **Inputs:** To the right of the FPGA section, each 'Position latch' block receives two inputs labeled **'Source'** (accompanied by a square wave symbol) and **'Encoder'**.\n* **Data Flow:** Arrows indicate a leftward flow of data:\n * From **'Position latch'** blocks to their corresponding **'FIFO'** blocks.\n * From **'FIFO'** blocks to their corresponding **'Queue'** blocks.\n * From the **'Queue'** blocks to the **'User Application'** block.\n* **Labels:**\n * A yellow highlighted box labeled **'1 ms'** sits between the FIFO and Queue columns.\n * A yellow highlighted box labeled **')=1 ms'** sits on the connection line between the Queues and the User Application.](.aps-functionlibrary-v2-1/64003a48ddce2289ec31ee14c5b9994038d51c9d9fddee601a8852a824f32d18.jpg) Figure 1 Position latch architecture # Syntax： C/C++： I32 FNTYPE APS\_enable\_ltc\_fifo( I32 Board\_ID, I32 FLtcCh, I32 Enable ); Visual Basic： APS\_enable\_ltc\_fifo (ByVal Board\_ID As Long, ByVal FLtcCh As Long, ByVal Enable As Long) As Long # Parameters： For PCI-C154(+)： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 FLtcCh： The specified latch channel from 0 to 3. I32 Enable： Enable/Disable latch fifo. 0： Disable. 1： Enable For PCI-8254/58 / AMP-204/8C： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 FLtcCh： The range of latch channel is 0\~3 I32 Enable： 0： Disable; 1： Enable # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; //Enable latch fifo channel 0 ret = APS\_enable\_ltc\_fifo( BoardID, 0, 0 ); // Disable position latch ret = APS\_reset\_ltc\_fifo( BoardID, 0 ); // Reset position latch queue ret = APS\_set\_ltc\_fifo\_param(BoardID, 0, LTC\_IPT, 0xFFF ); // Set input source ret = APS\_set\_ltc\_fifo\_param(BoardID, 0, LTC\_ENC, 0 ); // Set EncoderNo ret = APS\_set\_ltc\_fifo\_param(BoardID, 0, LTC\_LOGIC, 0 ); // Set Logic ret = APS\_enable\_ltc\_fifo( BoardID, 0, 1 ); // Start position latch # See also： APS\_set\_ltc\_fifo\_param(); APS\_get\_ltc\_fifo\_param(); APS\_reset\_ltc\_fifo() # APS\_reset\_ltc\_fifo Support Products： PCI-C154(+), PCI-8254/58 / AMP-204/8C, AMP-104C, AMP-304C, PCIe-8364RS # Descriptions： For PCI-C154(+)/AMP-104C , this function is used to reset latch fifo. Latch fifo will clear all data, and the status of fifo is in empty status. For PCI-8254/58 / AMP-204/8C , this function is used before starting position latch to reset or clear both Queue and FIFO that has been introduced in APS\_enable\_ltc\_fifo. It is noticed that the position latch is also cleared simutaneously. # Syntax： C/C++： I32 FNTYPE APS\_reset\_ltc\_fifo( I32 Board\_ID, I32 FLtcCh ); Visual Basic： APS\_reset\_ltc\_fifo ( ByVal Board\_ID As Long, ByVal FLtcCh As Long ) As Long # Parameters： For PCI-C154(+)： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 FLtcCh： The specified latch channel. For PCI-8254/58 / AMP-204/8C： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 FLtcCh： The range of latch channel is 0\~3 # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 ret; //Reset latch fifo channel 0 ret = APS\_reset\_ltc\_fifo ( Board\_ID, 0 ); # See also： # APS\_get\_ltc\_fifo\_data Support Products： PCI-C154(+) # Descriptions： This function is used to get one latch data from fifo. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_ltc\_fifo\_data( I32 Board\_ID, I32 FLtcCh, I32 Data ); Visual Basic： APS\_get\_ltc\_fifo\_data (ByVal Board\_ID As Long, ByVal FLtcCh As Long, Data As Long ) As Long # Parameters： I32 Board\_ID： The Board’s ID from 0 to 31. I32 FLtcCh： The specified latch channel. I32 Data： Get latch data stored in fifo. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt I32 Board_ID = 0; ``` I32 ret = 0; I32 data= 0; //Get data from latch fifo channel 0 ret = APS\_get\_ltc\_fifo\_data ( Board\_ID, 0, & data ); See also： # APS\_get\_ltc\_fifo\_usage Support Products： PCI-C154(+), PCI-8254/58 / AMP-204/8C, AMP-104C, AMP-304C, PCIe-8364RS # Descriptions： For PCI-C154(+) ,this function is used to get usage of latch fifo. The usage means how many fifo spaces is already used. The range of fifo usage is from 0 to 258 (PCI-C154+). The range of fifo usage is from 0 to 255 (AMP-104C). For PCI-8254/58 / AMP-204/8C,this function is used to get the latch queue used space which is introduced in APS\_enable\_ltc\_fifo. # Syntax： C/C++： I32 FNTYPE APS\_get\_ltc\_fifo\_usage( I32 Board\_ID, I32 FLtcCh, I32 Usage ); Visual Basic： APS\_get\_ltc\_fifo\_usage (ByVal Board\_ID As Long, ByVal FLtcCh As Long, Usage As Long ) As Long # Parameters： For PCI-C154(+)/AMP-104C ： I32 Board\_ID： The Board’s ID from 0 to 31. I32 FLtcCh： The specified latch channel from 0 \~ 3. I32 Usage： Get usage of latch fifo. For PCI-8254/58 / AMP-204/8C： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 FLtcCh： The range of latch channel is 0\~3 I32 \*Usage： Queue used space # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Board\_ID = 0; I32 ret = 0; I32 usage = 0; //Get usage of latch fifo channel 0 ret = APS\_get\_ltc\_fifo\_usage ( Board\_ID, 0, &usage ); See also： # APS\_get\_ltc\_fifo\_free\_space Support Products： PCI-C154(+), PCI-8254/58 / AMP-204/8C, AMP-104C, AMP-304C, PCIe-8364RS # Descriptions： For PCI-C154(+)/AMP-104C , this function is used to get free space of latch fifo. The range of free space is from 0 to 258(PCI-C154+). The free space means remaining space to store data in fifo. For PCI-8254/58 / AMP-204/8C , this function is used to get latch queue used space which is introduced in APS\_enable\_ltc\_fifo. # Syntax： C/C++： I32 FNTYPE APS\_get\_ltc\_fifo\_free\_space( I32 Board\_ID, I32 FLtcCh, I32 \*FreeSpace ); Visual Basic： APS\_get\_ltc\_fifo\_free\_space (ByVal Board\_ID As Long, ByVal FLtcCh As Long, FreeSpace As Long ) As Long # Parameters： For PCI-C154(+) ： I32 Board\_ID： The Board’s ID from 0 to 31. I32 FLtcCh： The specified latch channel. I32 FreeSpace： Get free space of latch fifo. For PCI(e)-8154/58： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 FLtcCh： The range of latch channel is 0\~3 I32 \* FreeSpace： Queue free space # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Board\_ID = 0; I32 ret = 0; I32 space = 0; //Get free space of latch fifo channel 0 ret = APS\_get\_ltc\_fifo\_free\_space ( Board\_ID, 0, &space ); See also： # APS\_get\_ltc\_fifo\_status Support Products： PCI-C154(+), PCI-8254/58 / AMP-204/8C, AMP-104C, AMP-304C, PCIe-8364RS # Descriptions： This function is used to get latch queue and fifo status. User could monitor fifo status including empty, full, level and overflow status. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_ltc\_fifo\_status( I32 Board\_ID, I32 FLtcCh, I32 Status ); Visual Basic： APS\_get\_ltc\_fifo\_status (ByVal Board\_ID As Long, ByVal FLtcCh As Long, Status As Long ) As Long # Parameters： ```txt For PCI-C154(+) : ``` I32 Board\_ID： The Board’s ID from 0 to 31. I32 FLtcCh： The specified latch channel from 0 to 3. I32 Status： Get status of latch fifo. Bit0 0： Not empty, 1： Empty Bit1 0： Not full, 1： Full Bit2 0： Under high level, 1： Above high level ```txt For AMP-104C : ``` I32 Board\_ID： The Board’s ID from 0 to 31. I32 FLtcCh： The specified latch channel from 0 to 3. I32 Status： Get status of latch fifo. Bit0 0： FIFO is not empty, 1： FIFO is Empty Bit1 0： FIFO is not full, 1： FIFO is full Bit2 0： FIFO is not overflow, 1： FIFO is Overflow ```txt For AMP-304C : ``` I32 Board\_ID： The Board’s ID from 0 to 31. I32 FLtcCh： The specified latch channel from 0 to 3. I32 Status： Get status of latch fifo. In FIFO mode (LTC parameter ： LTC\_FIFO\_MODE = 0) Bit0 0： FIFO is not empty, 1： FIFO is Empty Bit1 0： FIFO is not full, 1： FIFO is full Bit2 0： FIFO is not overflow, 1： FIFO is Overflow In Single point mode (LTC parameter ： LTC\_FIFO\_MODE = 1) Bit 0 = X： not used Bit 1 = 0： FIFO is not full; 1： FIFO is full. Bit 2 = X： not used For PCI-8254/58 / AMP-204/8C： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 FLtcCh： The range of latch channel is 0\~3 I32 \* Status： the bit define of status is Bit0 = 0： FIFO is not empty, 1： FIFO is Empty (cyclic update) Bit1 = 0： FIFO is not full, 1： FIFO is full (cyclic update) Bit2 = X Bit3 = 0： FIFO is not overflow, 1： FIFO is Overflow (clear by reset Queue and FIFO) Bit4 = 0： Queue is not empty, 1： Queue is empty (cyclic update) Bit5 = 0： Queue is not full, 1： Queue is full (cyclic update) Bit6 = 0： Queue is not overflow, 1： Queue is overflow (clear by reset Queue and FIFO) For PCIe-8364RS: I32 Board\_ID: ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 FLtcCh: The range of latch channel is 0\~1 I32 \* Status: the bit define of status is In FIFO mode (LTC parameter : LTC\_FIFO\_MODE = 0) Bit0 = 0: FIFO is not empty, 1: FIFO is empty Bit1 = 0: FIFO is not full, 1: FIFO is full Bit2 = 0: FIFO is not overflow, 1: FIFO is overflow (clear by APS\_reset\_ltc\_fifo) In Single point mode (LTC parameter : LTC\_FIFO\_MODE = 1) Bit0 = 0: FIFO is not empty, 1: FIFO is empty Bit1 = 0: FIFO is not full, 1: FIFO is full Bit2 = X: not used(always 0) # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Board\_ID = 0; I32 ret = 0; I32 status = 0; //Get status of latch fifo channel 0 ret = APS\_get\_ltc\_fifo\_free\_status ( Board\_ID, 0, &status ); See also： APS\_reset\_ltc\_fifo # APS\_get\_ltc\_fifo\_point Support Products： PCI-8254/58 / AMP-204/8C, AMP-104C, AMP-304C, PCIe-8364RS # Descriptions： This function is used to get latch point array. Each latch point will include position in user coordinate and corresponding trigger source. The maximum latch point array size is 16. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_ltc\_fifo\_point( I32 Board\_ID, I32 FLtcCh, I32 \*ArraySize, LATCH\_POINT \*LatchPoint ) APS\_get\_ltc\_fifo\_point (ByVal Board\_ID As Integer, ByVal FLtcCh As Integer, ByRef ArraySize As Integer, ByRef LatchPoint As LATCH\_POINT) As Integer # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 FLtcCh： The range of latch channel is 0\~3 I32 \* ArraySize： The size of latch point array; the maximum value of ArraySize is less than 255. LATCH\_POINT \* LatchPoint： Latched point array. The define of LATCH\_POINT is shown below. For PCI-8254/58 / AMP-204/8C： ```c typedef struct { F64 position; // Latched position I32 ltcSrcInBit; // Latch source : bit 0~7 : DI; bit 8~11 : trigger channel } LATCH_POINT; For AMP-104C : typedef struct { F64 position; // Latched position I32 ltcSrcInBit; // Latch source : bit 0~3 : SISC isolated DI; bit 4~7 : TTL } LATCH_POINT; For AMP-304C : typedef struct { ``` F64 position; // Latched position I32 ltcSrcInBit; // Latch source bits： bit 0\~3： SISC isolated DI4\~7; bit 4\~7： TTL DI0\~3; bit 8\~11：LTC0\~3; bit 12\~15： PWM 0\~3} LATCH\_POINT; Members： For PCI-8254/58 / AMP-204/8C： position Latched position ltcSrcInBit (1) bit 0\~7： Digital input signal (2) bit 8\~11： trigger channel For AMP-104C： position Latched position ltcSrcInBit (1) bit 0\~3： Digital input signal (2) bit 4\~7： trigger channel For AMP-304C： position Latched position ltcSrcInBit (1) bit 0\~3： Digital input signal 4\~7 (2) bit 4\~7： TTL Digital input signal 0\~3 (3) bit 8\~11： Latch input signal 0\~3 (4) bit 12\~15： trigger channel 0\~3 Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： I32 I32 Board\_ID =0; I32 FLtcCh： The specified latch channel from 0 to 3. LATCH\_POINT LatchPoint[255];// Maximum latch FIFO size are 255. I32 ArraySize = 0; APS\_get\_ltc\_fifo\_point( BoardID, 0, &ArraySize, LatchPoint ); ```c if(ArraySize){ for(i=0; i<ArraySize; i++) { printf("%f \ n", LatchPoint[i].position); } ``` } See also： APS\_set\_ltc\_fifo\_param(); APS\_get\_ltc\_fifo\_param(); APS\_enable\_ltc\_fifo() # 32.Ring counter functions # APS\_set\_ring\_counter Support Products： PCI-8154/58 # Descriptions： This function is used to set ring counter limitation value and enable ring counter function. When enable the ring counter function, the command and feedback counters will be operated as a ring counter. When the ring counter limitation value be set to zero, the ring counter function will be disabled. For example, in Figure 1, when the ring counter limitation value( I32 RingVal ) is set to 4, the command and feedback counters will count up until counter’s value that is equal to four, then the command and feedback counters will be reset to zero and repeat above behavior. Relatively, in Figure 2, when the ring counter limitation value( I32 RingVal ) is set to four, the command and feedback counters will count down until counter’s value that is equal to zero, then the command and feedback counters will be reset to four and repeat above behavior ![Direction : Positive\nCommand Pulse Out\nCommand Counter\n(Initial value = 0)\nor\nFeedback Counter\n(Initial value = 0)\n0 1 2 3 4 0 1 2 3 4 0\nReset counter value\nReset counter value\nFigure 1\nTime](.aps-functionlibrary-v2-1/f19f1d5c76aa70c8e0646d00b4528bf6061a9b9355ed9e8a48a81f6269128b4f.jpg) ![| Phase | Value |\n|-------|-------|\n| Command Pulse Out | 4 |\n| Command Counter (Initial value = 4) or Feedback Counter (Initial value = 4) | 3 |\n| Feedback Counter | 2 |\n| Feedback Counter | 1 |\n| Feedback Counter | 0 |\n| Feedback Counter | 4 |\n| Feedback Counter | 3 |\n| Feedback Counter | 2 |\n| Feedback Counter | 1 |\n| Feedback Counter | 0 |\n| Feedback Counter | 4 |](.aps-functionlibrary-v2-1/8ec9fb5562aa59479d38f935574f2c3b593e51ea3ee30e5062c283daf1fb2a3d.jpg) # Syntax： $$ C / C + +: $$ I32 FNTYPE APS\_set\_ring\_counter( I32 AxisNo, I32 RingVal ) Visual Basic： APS\_set\_ring\_counter (ByVal AxisNo As Long, ByVal RingVal As Long) As Long # Parameters： I32 AxisNo： The index of axis. I32 RingVal： The limitation value of ring counter.( 0 < RingVal< 134217727 ) If RingVal equal to zero means disable ring counter function # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```txt I32 AxisNo = 0; //Set axis ID I32 RingVal = 1000; //Set the limitation value of ring counter F64 Dist = 3000; //Set the relative distance to move (unit: pulse) F64 MaxVel = 1000; //Set maximum velocity in units of pulse per second APS_set_ring_counter(AxisNo, RingVal); //Enable ring counter function APS_relative_move(AxisNo, Dist, MaxVel); //Start relative move ...... APS_set_ring_counter(AxisNo, 0); //Disable ring counter function ``` # See also： APS\_get\_ring\_counter () # APS\_get\_ring\_counter Support Products： PCI-8154/58 # Descriptions： This function is used to get limitation value of ring counter. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_get\_ring\_counter( I32 AxisNo, I32 \*RingVal ) Visual Basic： APS\_get\_ring\_counter (ByVal AxisNo As Long, RingVal As Long) As Long # Parameters： I32 AxisNo： The index of axis. I32 \*RingVal： Get the limitation value of ring counter.( 0 < RingVal< 134217727 ) # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 AxisNo = 0; //Set axis ID I32 RingVal = 1000; //Set the limitation value of ring counter F64 Dist = 3000; //Set the relative distance to move (unit： pulse) F64 StrVel = 0; //Set starting velocity of a velocity profile in units of pulse per second F64 MaxVel = 1000; //Set maximum velocity in units of pulse per second APS\_set\_ring\_counter(AxisNo, RingVal ); //Enable ring counter function APS\_relative\_move(AxisNo, Dist, MaxVel); //Start relative move APS\_get\_ring\_counter(AxisNo, &RingVal ); //Get limitation value of ring counter # See also： APS\_set\_ring\_counter () # 33.Speed Profile Calculation # APS\_relative\_move\_profile Support Products： PCI-C154(+), AMP-304C # Descriptions： This function is used to get relative move speed profile. By this function, user can get the actual speed profile before motion. Therefore user needs to set speed pattern curve by aixs parameter PRA\_CURVE(0x20) and start velocity by PRA\_VS(0x23) for calculation profile. # Syntax： C/C++： I32 FNTYPE APS\_relative\_move\_profile( I32 Axis\_ID, I32 Distance, I32 Max\_Speed, I32 \*StrVel, I32 \*MaxVel, F64 \*Tacc, F64 \*Tdec, F64 \*Tconst ) Visual Basic： APS\_relative\_move\_profile(ByVal Axis\_ID As Long, ByVal Distance As Long, ByVal Max\_Speed As Long, StrVel As Long, MaxVel As Long, Tacc As Double, Tdec As Double, Tconst As Double ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Distance： Relative distance. Unit ： pulse. I32 Max\_Speed： The maximum speed of this move profile. Unit： pulse/sec. I32 \* StrVel： Starting velocity. Unit： pulse/sec. I32 \* MaxVel： The maximum speed of this move profile. Unit： pulse/sec. F64 \* Tacc： Acceleration time by calculation. Unit： sec F64 \* Tdec： Deceleration time by calculation. Unit： sec F64 \* Tconst： Constant speed time(maximum speed). Unit： sec # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Axis\_ID = 0; I32 ret = 0; I32 Distance = 100000; I32 Max\_Speed = 10000; ```c I32 StrVel = 0, MaxVel = 0; F64 Tacc = 0, Tdec = 0, Tconst = 0; ret = APS_set_axis_param( Axis_ID, PRA_VS, 1000 ); // start velocity ret = APS_set_axis_param( Axis_ID, PRA_CURVE, 0 ); // T curve Ret = APS_relative_move_profile( Axis_ID, Distance, Max_Speed, &StrVel, &MaxVel, &Tacc, &Tdec, &Tconst ); ``` See also： # APS\_absolute\_move\_profile Support Products： PCI-C154(+), AMP-304C # Descriptions： This function is used to get absolute move speed profile. By this function, user can get the actual speed profile before motion. Therefore user needs to set speed pattern curve by aixs parameter PRA\_CURVE(0x20) and start velocity by PRA\_VS(0x23) for calculation profile. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_absolute\_move\_profile( I32 Axis\_ID, I32 Position, I32 Max\_Speed, I32 \*StrVel, I32 \*MaxVel, F64 \*Tacc, F64 \*Tdec, F64 \*Tconst ) Visual Basic： APS\_relative\_move\_profile(ByVal Axis\_ID As Long, ByVal position As Long, ByVal Max\_Speed As Long, StrVel As Long, MaxVel As Long, Tacc As Double, Tdec As Double, Tconst As Double ) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Position： Absolute command position. Unit is pulse. I32 Max\_Speed： The maximum speed of this move profile. Unit： pulse/sec. I32 \* StrVel： Starting velocity. Unit： pulse/sec. I32 \* MaxVel： The maximum speed of this move profile. Unit： pulse/sec. F64 \* Tacc： Acceleration time by calculation. Unit： sec F64 \* Tdec： Deceleration time by calculation. Unit： sec F64 \* Tconst： Constant speed time(maximum speed). Unit： sec # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Axis\_ID = 0; I32 ret = 0; I32 Position = 100000; I32 Max\_Speed = 10000; I32 StrVel =0,MaxVel=0; F64 Tacc=0, Tdec=0, Tconst=0; ret = APS\_set\_axis\_param( Axis\_ID, PRA\_VS, 1000 ); // start velocity ret = APS\_set\_axis\_param( Axis\_ID, PRA\_CURVE, 1 ); // S curve Ret = APS\_absolute\_move\_profile( Axis\_ID, Position, Max\_Speed, &StrVel, &MaxVel, &Tacc, &Tdec, &Tconst ); See also： # APS\_check\_motion\_profile\_emx Support Products： EMX-100 # Descriptions： This function is used to get relative move speed profile. By this function, user can get the actual speed profile before motion. If calculated minimum distance is less than user expect, the controller will automatically calculate new dec, Vmax parameters that can refer Speed profile criteria. # Syntax： ```txt C/C++ : ``` I32 FNTYPE APS\_check\_motion\_pfofile\_emx( I32 Axis\_ID, Speed\_profile \*profile\_input, Speed\_profile \*profile\_output, I32 \*MinDis); Visual Basic： APS\_check\_motion\_pfofile\_emx(ByVal Axis\_ID As Long, ByRef profile\_input As Speed\_profile, ByRef Param\_Val As Speed\_profile, ByRef MinDis As Long) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. Speed\_profile profile\_input： structure of input speed profile information. Speed\_profile profile\_output： structure of output speed profile information. I32 MinDis： The minimum distance by controller calculation user configuration input speed profile. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： I32 Axis\_ID = 0, MinDis = 0; Speed\_profile Inputprofile; Speed\_profile Outputprofile; Inputprofile.Acc = 1000000; Inputprofile.Dec = 1000000; Inputprofile.Vmax = 1000000; Inputprofile.VS = 1000; Inputprofile.s\_factor = 10; ret = APS\_check\_motion\_profile\_emx(Axis\_ID,&Inputprofile,&Outputprofile,&MinDis); # See also： # 34.Backlash functions # APS\_set\_backlash\_en Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, PCIe-8364RS # Descriptions： This function is used to enable or disable backlash function. The backlash compensation is applied to that commanded axis movement by superimposition as the direction of axis movement is reversed. Users should configure the axis parameters PRA\_BKL\_DIST and PRA\_BKL\_CNSP prior to enable backlash. The former denotes the backlash compensation value, and the latter denotes the backlash compensation increment value every cycle. If this function is already enabled, it is not allowed to enable again. If user set Enable as 2, the output velocity will be limited by axis parameter PRA\_VM (0x24). The motion status bit 27 is used to indicate backlash compensation is in operation or not. The tables below show two backlash Enable mode examples： The backlash axis parameters are both 1000. The Direction denotes the motion status DIRbit,1forpositive,and Ofor negative.And the Command and Position denote the command position and feedback position in user coordinate respectively. The Encoder denotes the encoder values of motor coordinate. It is supposed backlash is enabled after setting Servo ON, then run the point-to-point function step by step, and the backlash compensation is effected when the Direction is reversed. The Command is return value of APS\_get\_command(f) . The Position is return value of APS\_get\_position(f). The Encoder is return value of APS\_get\_encoder(f), it is mapping to PDO actual position value for PCIe-833x series product. Note：During backlash enable motion process, user can’t dynamically switch Enable mode from 1 -> 2 or 2 -> 1. It is allowed Enable mode 1 -> 0 -> 2 or 2 -> 0 -> 1. Table 1 An Example of setting Enable as 1： user coordinate position is NOT aligned
StepDescriptionDirectionCommandPositionEncoderNote
1Initial conditionPositive000Servo ON
2Forward 1000 pulsePositive100010001000
3Forward 1000 pulsePositive200020002000
4Backward 1000 pulseNegative100000Backlash compensation
5Backward 1000 pulseNegative0-1000-1000
6Backward 1000 pulseNegative-1000-2000-2000
7Forward 1000 pulsePositive000Backlash compensation
4Backward 1000 pulseNegative100010000Backlash compensation
5Backward 1000 pulseNegative00-1000
6Backward 1000 pulseNegative-1000-1000-2000
7Forward 1000 pulsePositive000Backlash compensation
Table 2 An Example of setting Enable as 2： user coordinate position is aligned # Syntax： C/C++： I32 FNTYPE APS\_set\_backlash\_en ( I32 Axis\_ID, I32 Enable ); Visual Basic： APS\_set\_backlash\_en (ByVal Board\_ID As Integer, ByVal Enable As Integer) As Integer # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 Enable： see description below
EnableDescription
0Disable backlash compensation
1a. Enable backlash compensationb. User coordinate position is NOT alignedc. The motion status bit 27 is used to indicate backlash compensation is in operation (=0) or not (=1).
2a. Enable backlash compensationb. User coordinate position is alignedc. Output velocity is limited by axis parameter PRA_VM (0x24)d. The motion status bit 27 is used to indicate backlash compensation is in operation (=0) or not (=1).
# Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： See also： # APS\_get\_backlash\_en Support Products： PCI-8254/58 / AMP-204/8C, PCIe-833x, PCIe-8364RS # Descriptions： This function is used to check backlash is enabled or disabled. # Syntax： C/C++： I32 FNTYPE APS\_get\_backlash\_en( I32 Axis\_ID, I32 \*Enable ); Visual Basic： APS\_get\_backlash\_en (ByVal Board\_ID As Integer, ByRef Enable As Integer) As Integer # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \*Enable： see description below
EnableDescription
0Disable backlash compensation
1a. Enable backlash compensationb. User coordinate position is NOT alignedc. The motion status bit 27 is used to indicate backlash compensation is in operation (=0) or not (=1).
2a. Enable backlash compensationb. User coordinate position is alignedc. Output velocity is limited by axis parameter PRA_VM (0x24)d. The motion status bit 27 is used to indicate backlash compensation is in operation (=0) or not (=1).
# Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： See also： # 35.2-D compensation # APS\_set\_2d\_compensation\_table Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT # Descriptions： This function is used to create 2D compensation table. Figure 1 shows the architecture of 2D compensation table. User can plan motion in user coordinate. When running linear interpolation function, the user coordinate target position will be modified by 2D compensation table. When motion is finished, user can get user coordinate command/position. User need to give this function AxisID, total point number, start position, interval, and compensation data. It defines array index 0 for Axis X and array index 1 for Axis Y. It is not allowed to give zero or negative value to total point number and interval. A memory to save compensation data will be created internally based on given total point numbers. And this memory will be released when disabling table compensation function. Figure 2 is an example of how to give function parameters. It gives start position (0 0), interval (10 10), and total point number (3 3). The dxi and $\mathsf { d y } _ { j }$ denote the compensation value for Axis X and Axis Y respectively, and the comp\_data\_x and comp\_data\_y are 1-D compensation data array. Figure 3 shows the given comp. data should obey monotone principle, that is, $( \mathsf { x } _ { { \boldsymbol { i } } } + \mathsf { d } \mathsf { x } _ { { \boldsymbol { i } } } ) \leq ( \mathsf { x } _ { { \boldsymbol { i } } + { \boldsymbol { \jmath } } } + \mathsf { d } \mathsf { x } _ { { \boldsymbol { i } } + { \boldsymbol { \jmath } } } )$ and $( \mathsf { y } _ { j } +$ $\mathsf { d y } _ { j } ) \leq ( \mathsf { y } _ { j + 1 } + \mathsf { d y } _ { j + 1 } )$ . The ${ \mathsf { d } } \mathsf { x } _ { { \boldsymbol { j } } }$ and dyjdenote the compensation value and the $\mathsf { X } _ { j }$ and $\mathsf { y } _ { j }$ are the position of four points in compensation table. This function will return error code when giving improper comp. data. ![This diagram illustrates a data flow across three vertical sections labeled 'User program (windows)', 'APS library side (windows)', and 'DSP kernel side'.\n\n**Labeled Blocks:**\n* '2D compensation table'\n* 'APS linear interpolation function'\n* 'APS get command APS get position (Axis X)'\n* 'APS get command APS get position (Axis Y)'\n* 'DSP'\n\n**Connections:**\n* Inputs 'User coordinate Target posits', 'Set comp. data', and 'Set Axis XY mapping' all point to the '2D compensation table'.\n* The '2D compensation table' outputs 'Modified Target posits' to the 'APS linear interpolation function'.\n* The 'APS linear interpolation function' connects to the 'DSP'.\n* The 'DSP' connects to both 'APS get command APS get position (Axis X)' and 'APS get command APS get position (Axis Y)'.\n* These two 'APS get...' blocks connect back to the '2D compensation table' via a path labeled 'Modified command/feedback posits'.\n* Finally, the '2D compensation table' outputs to 'User coordinate command/feedback posits'.](.aps-functionlibrary-v2-1/1680f511fe63df58cd1655044940f482df264ba77b4bf8e5fcbf4a22753163b6.jpg) Figure 1 2-D compensation table schematic diagram ![The image displays a coordinate grid diagram with a 2x2 arrangement of squares, surrounded by coordinate labels and grouped by blue curly braces.\n\n**Labeled Blocks (Coordinates):**\n* **Inner Quadrants:** `(dx3,dy3)` (top-left), `(dx4,dy4)` (top-right), `(dx0,dy0)` (bottom-left), and `(dx1,dy1)` (bottom-right).\n* **Outer Boundaries:** `(dx6,dy6)` (top-left corner), `(dx7,dy7)` (top-center), `(dx8,dy8)` (top-right corner), `(dx5,dy5)` (right-center), and `(dx2,dy2)` (bottom-right corner).\n* **Start Point:** A blue dot at the bottom-left corner labeled `(start_pos(0), start_pos(1))`.\n\n**Connections and Groupings (Blue Brackets):**\n* **`Total_point(1)`**: A vertical bracket on the far left spanning the height of the top two quadrants.\n* **`interval(1)`**: A vertical bracket nested next to `Total_point(1)`, spanning the height of the top-left quadrant.\n* **`interval(0)`**: A horizontal bracket underneath the bottom-right quadrant.\n* **`Total_point(0)`**: A horizontal bracket at the very bottom spanning the entire width from the start point to the right edge.](.aps-functionlibrary-v2-1/a000531f452f03c97511fdfe0a6e556436653d29580983bcc71e25218145ec24.jpg) $$ \text { comp\_data\_x } [ i ] = \mathrm{dx} _ {i}, \text { and } i = 0 \sim 8 $$ $$ \text { comp\_data\_y } [ j ] = \mathrm{dx} _ {j}, \text { and } j = 0 \sim 8 $$ Figure 2 Example of 2-D compensation table configuration ![(x₂,y₂) (x₃,y₃)\n(x₀,y₀) (x₁,y₁)\n→\n(x₂+dx₂,y₂+dy₂) (x₃+dx₃,y₃+dy₃)\n(x₀+dx₀,y₀+dy₀) (x₁+dx₁,y₁+dy₁)](.aps-functionlibrary-v2-1/bfc28bf38e9acc8c08f253b289a83d923e39ef131eda6beac182239b1ae00f7a.jpg) (1) Proper comp. data ![(x₂,y₂) (x₃,y₃)\n(x₀,y₀) (x₁,y₁)\n(x₂+dx₂,y₂+dy₂) (x₃+dx₃,y₃+dy₃)\n(x₀+dx₀,y₀+dy₀) (x₁+dx₁,y₁+dy₁)](.aps-functionlibrary-v2-1/1f1ae5dbaf91b919a8863573602ab37e1e27e5a10af36bbba595f53a32c631f8.jpg) (2) Improper comp. data (line intersect) Figure 3 Influence of choosing improper comp. data # Syntax： $$ C / C + +: $$ I32 APS\_set\_2d\_compensation\_table(I32 \*AxisIdArray, U32 CompType, U32 \*TotalPointArray, F64 \*StartPosArray, F64 \*IntervalArray, F64 \*CompDataArrayX, F64 \*CompDataArrayY) Visual Basic： APS\_set\_2d\_compensation\_table (ByVal AxisIdArray() As Integer, ByVal CompType As UInteger, ByVal TotalPointArray() As UInteger, ByVal StartPosArray() As Double, ByVal IntervalArray() As Double, ByVal CompDataArrayX() As Double, ByRef CompDataArrayY() As Double) As Integer # Parameters： I32 \*AxisIdArray： Axis ID array; array size is 2; range from 0 to 65535. U32 CompType： Error compensation method (reserved) U32 \*TotalPointArray： total point number array; array size is 2 F64 \*StartPosArray： start position array; array size is 2 F64 \*IntervalArray： interval array; array size is 2; (interval value > 0.0) F64 \*CompDataArrayX： Axis X compensation data array; array size > (TotalPointArray[0] \* TotalPointArray[1] ) F64 \*CompDataArrayY： Axis X compensation data array; array size > (TotalPointArray[0] \* TotalPointArray[1] ) # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```c I32 ret = 0; // error code I32 CompType = 0; // compensation method U32 TotalPointArray[2] = {4,4}; // total point F64 StartPosArray[2] = {-100,-100}; // start position F64 IntervalArray[2] = {100,100}; // interval F64 CompDataArrayX[20]; // Axis X compensation data F64 CompDataArrayY[20]; // Axis Y compensation data F64 Position_Array[2] = {-100,-40}; // target position for linear interpolation F64 Max_Linear_Speed = 10; // max speed for linear interpolation F64 CommandX, CommandY, PositionX, PositionY; // user coordinate command position and feedback position I32 Axis_ID_Array[2] = {0, 1}; // Axis X and Axis Y // Example of compensation data for test for(int i=1; i<16; i++) { CompDataArrayX[i] = i; CompDataArrayY[i] = 15-i; } // Create 2D compensation table ret = APS_set_2d_compensation_table( Axis_ID_Array, CompType, TotalPointArray, StartPosArray, IntervalArray, CompDataArrayX, CompDataArrayY); ``` ```c // Enable 2D compensation table ret = APS_start_2d_compensation(Axis_ID_Array[0], 1); // Linear interpolation ret = APS_absolute_linear_move_2d_compensation(Axis_ID_Array, Position_Array, Max_Linear_Speed); // Get user coordinate command position and feedback position ret = APS_get_2d_compensation_command_position(Axis_ID_Array[0], &CommandX, &CommandY, &PositionX, &PositionY); ``` # APS\_get\_2d\_compensation\_table Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT # Descriptions： This function is used to get 2D compensation table configuration. # Syntax： C/C++： I32 APS\_get\_2d\_compensation\_table(I32 \*AxisIdArray, U32 \*CompType, U32 \*TotalPointArray, F64 \*StartPosArray, F64 \*IntervalArray, F64 \*CompDataArrayX, F64 \*CompDataArrayY) Visual Basic： APS\_get\_2d\_compensation\_table (ByVal AxisIdArray() As Integer, ByRef CompType As UInteger, ByVal TotalPointArray() As UInteger, ByVal StartPosArray() As Double, ByVal IntervalArray() As Double, ByVal CompDataArrayX() As Double, ByRef CompDataArrayY() As Double) As Integer # Parameters： I32 \*AxisIdArray： Axis ID array; array size is 2; range from 0 to 65535. U32 \*CompType： Error compensation method (reserved) U32 \*TotalPointArray： total point number array; array size is 2 F64 \*StartPosArray： start position array; array size is 2 F64 \*IntervalArray： interval array; array size is 2; (interval value > 0.0) F64 \*CompDataArrayX： Axis X compensation data array; array size > (TotalPointArray[0] \* TotalPointArray[1] ) F64 \*CompDataArrayY： Axis X compensation data array; array size > (TotalPointArray[0] \* TotalPointArray[1] ) # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： # APS\_start\_2d\_compensation Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x # Descriptions： This function is used to start or stop 2D compensation table. It is noticed that the memory created for saving compensation data will be released when disabling 2D compensation function. This function should be enabled before running APS absolute linear move 2d compensation() or APS\_get\_2d\_compensation\_command\_position0 # Syntax： C/C++： I32 APS\_start\_2d\_compensation( I32 Axis\_ID, I32 Enable ) Visual Basic： APS\_start\_2d\_compensation (ByVal Axis\_ID As Integer, ByVal Enable As Integer) As Integer # Parameters： I32 Axis\_ID： Axis ID of Axis X; range from 0 to 65535. I32 Enable： Enable/disable 2D compensation table # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： # APS\_absolute\_linear\_move\_2d\_compensation Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT # Descriptions： This function is used to start an absolute linear interpolation positioning motion. The target position will be modified by 2D compensation table. # Syntax： C/C++： I32 APS\_absolute\_linear\_move\_2d\_compensation( I32 \*Axis\_ID\_Array, F64 \*Position\_Array, F64Max\_Linear\_Speed ) Visual Basic： APS\_absolute\_linear\_move\_2d\_compensation (ByVal Axis\_ID\_Array() As Integer, ByVal Position\_Array() As Double, ByVal Max\_Linear\_Speed As Double) As Integer # Parameters： I32 \*Axis\_ID\_Array： Axis ID array; array size is 2; from 0 to 65535. F64 \*Position\_Array： Absolute position array; array size is 2 (unit： pulse) F64 Max\_Linear\_Speed： Maximum linear interpolation speed (unit： pulse/sec) # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： # APS\_get\_2d\_compensation\_command\_position Support Products： PCI-8254/58 / AMP-204/8C , PCIe-833x, ECAT-4XMO, ECAT-4XMO-MT # Descriptions： This function is used to get the command position and feedback position of one axis by double. The unit is pulse.The figure below explains the relationship between compensated position (APS get command f()andAPS get position f())and user coordinate position (APS\_get\_2d\_compensation\_command\_position ()). ![This diagram depicts a central processing component and its data flow:\n\n* **Central Block:** A large vertical blue rectangle labeled **'2D compensation table'**.\n* **Inputs (Right Side):** Two functions, **'APS_get_command_f()'** and **'APS_get_position_f()'**, are shown with a red arrow pointing toward the central block, indicating they provide input to the table.\n* **Output (Left Side):** A function labeled **'APS_get_2d_compensation_command_position()'** is shown with a red arrow pointing away from the central block, indicating it retrieves data from the table.](.aps-functionlibrary-v2-1/d53a8fcb92bc2959efbfe61cb8f9554e938d5f47b3fa4442a688a0fd42b92c31.jpg) # Syntax： C/C++： I32 APS\_get\_2d\_compensation\_command\_position( I32 Axis\_ID, F64 \*CommandX, F64 \*CommandY, F64 \*PositionX, F64 \*PositionY ) Visual Basic： APS\_get\_2d\_compensation\_command\_position (ByVal Axis\_ID As Integer, ByRef CommandX As Double, ByRef CommandY As Double, ByRef PositionX As Double, ByRef PositionY As Double) As Integer # Parameters： I32 Axis\_ID： Axis ID of Axis X; range from 0 to 65535. F64 \*CommandX： Axis X user coordinate command position. Unit in pulse. F64 \*CommandY： Axis Y user coordinate command position. Unit in pulse. F64 \*PositionX： Axis X user coordinate feedback position. Unit in pulse. F64 \*PositionY： Axis Y user coordinate feedback position. Unit in pulse. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： Note： If the compensation position definition interval is too large. There will be deviation in the numerical calculation results.For Example： CaseA： There is a point in the 2d plane with 1% deformation in the X and Y. Use APS\_get\_2d\_compensation\_command\_position get end position is{ 8000.25321439075, 8000.25321439075}. ```txt uint[] totalPointArray = new uint[2] { 2, 2 }; double[] startPosArray = new double[2] { 0, 0 }; double[] intervalArray = new double[2] { 10000, 10000 }; double[] compArrayX = new double[4] { 0, 0, 0, 100 }; double[] compArrayY = new double[4] { 0, 0, 0, 100 }; double[] posArray = new double[2] {8000, 8000}; APS168.APS_absolute_linear_move_2d_compensation(axisArray, posArray, 2000); ``` CaseB： There is a point in the 2d plane with 10% deformation in the X and Y. Use APS\_get\_2d\_compensation\_command\_position get end position is { 8023.06115702479, 8023.06115702479}. ```javascript uint[] totalPointArray = new uint[2] { 2, 2 }; double[] startPosArray = new double[2] { 0, 0 }; double[] intervalArray = new double[2] { 10000, 10000 }; double[] compArrayX = new double[4] { 0, 0, 0, 1000 }; double[] compArrayY = new double[4] { 0, 0, 0, 1000 }; double[] posArray = new double[2] {8000, 8000}; APS168.APS_absolute_linear_move_2d_compensation(axisArray, posArray, 2000); ``` CaseC： There is a point in the 2d plane with 20% deformation in the X and Y. Use APS\_get\_2d\_compensation\_command\_position get end position is { 8083.91111111111, 8083.91111111111}. ```javascript uint[] totalPointArray = new uint[2] { 2, 2 }; double[] startPosArray = new double[2] { 0, 0 }; double[] intervalArray = new double[2] { 10000, 10000 }; double[] compArrayX = new double[4] { 0, 0, 0, 2000 }; double[] compArrayY = new double[4] { 0, 0, 0, 2000 }; double[] posArray = new double[2] {8000, 8000}; APS168.APS_absolute_linear_move_2d_compensation(axisArray, posArray, 2000); ``` # 36.Single axis torque motion # APS\_torque\_move Support Products： PCIe-833x # Descriptions： The function will proceed motion of torque for single axis. Through the function, it can operate profile generator in ADLINK SOFTMOTION and generate torque profile needed to complete torque operation. When torque operation begins, it also can confirm if inputting torque has reached the maximum by TM(Bit 7) in Motion status. The used case of function is illustrates as below. ![| Time (ms) | Torque (0.1%) |\n| --------- | ------------- |\n| Start | 0 |\n| Peak | 35% |\n| End | 0 |](.aps-functionlibrary-v2-1/5af6fa15f1d41ccafd11c0db672a7e0263e142e605e1b247ca7c17ece8b7ffa2.jpg) # NOTICE： a. Servo driver must support torque mode in order to use the torque control function. There are six PDO informations must be included in the PDO map. Mode of operation(0x6060) - Mode of operation display(0x6061) - Position actual value object(0x6064) Target Position object(0x607A) Target Torque object(0x6071) - Torque actual value object(0x6077) b. Axis can’t execute related function of position moving when operating mode in CST mode. c. Do not support using torque move dynamically when servo axis still running. Before using this function, it must be understood that the mode of operation in Servo driver can be operated normally only under CST mode. In other words, it’s needed to switch mode through APS\_set\_command\_control\_mode function. Suggested standard operating procedure is showed as below. ![Based on the provided flowchart, here is the accurate description of the labeled blocks and their connections:\n\n**Sequential Steps:**\n1. **Start Node**: The process begins with a black circle.\n2. **Axis servo on**: Connected downward from the start node. (Corresponding API: `APS_set_servo_on`)\n3. **Axis parameter setting for torque control 'PRA_TRQ_STP_TIME(0x301)' 'PRA_INIT_TRQ(0x302)'**: Connected downward from the previous block. (Corresponding API: `APS_set_axis_param`)\n4. **Change mode of operation to 'CST' mode**: Connected downward from the previous block. (Corresponding API: `APS_set_command_control_mode`)\n5. **Check mode of operation setting value**: Connected downward from the previous block. (Corresponding API: `APS_get_command_control_mode`)\n\n**Decision Point:**\n6. **= 1(CST)**: A yellow diamond connected downward from the check block.\n * **YES Connection**: Proceeds downward to the block **Start torque move** (Corresponding API: `APS_torque_move`). From this block, an arrow leads to the **End Node** (black circle).\n * **NO Connection**: Proceeds left to the block **Error code check**. From this block, a red line leads downward and then right to the **End Node** (black circle).](.aps-functionlibrary-v2-1/a7d41aaee4f252e59f521d0216940179d437eda547e5a7227f415ff2a337c9cd.jpg) Syntax： $$ C / C + +: $$ APS\_torque\_move( I32 AxisID, I16 TorqueValue, U32 Slope, U16 Option, ASYNCALL \*Wait ) # Visual Basic : APS\_torque\_move( ByVal Axis\_ID As Long, ByVal TorqueValue As Integer, ByVal Slope As Long, ByVal Option As Long, ByRef Wait As ASYNCALL) As Long # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I16 TorqueValue： The torque that the axis will apply. Unit is 0.1%. U32 Slope： Assign specific value for reaching target torque. Choosing by reach time or slope value according to “Option” argument define. U16 Option： A bit set specifies the option. Bit0： Define the type of reach target torque. 0 = By slope input. Slope unit is 0.1%/sec. 1 = By reach time input. Reach time unit is millisecond. (Minimum is 1ms) ASYNCALL \*Wait： A pointer to ASYNCALL structure. Note： It is reserved for future. # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```c // Initial procedure ret = APS_initial( &BoardID_InBits, 0 ); ret = APS_scan_field_bus( BoardID, BusNo); ret = APS_start_field_bus( BoardID, BusNo, StartAxisID); // Axis initial ret = APS_set_servo_on( AxisID, 1 ); ret = APS_set_axis_param( AxisID, PRA_TRQ_STP_TIME, 10 ); // Torque stop time is 10ms ret = APS_get_actual_torque( AxisID, &torque ); ret = APS_set_axis_param( AxisID, PRA_INIT_TRQ, torque ); // Initial torque output from actual torque ret = APS_set_command_control_mode( AxisID, 1 ); // Change command mode to CST ret = APS_get_command_control_mode( AxisID, &mode ); If( mode != 1 ) // Mode change failed. ..... // Start torque move. Assign output torque to be 30%, reach time is 50ms. ret = APS_torque_move( AxisID, 300, 50, 1, NULL ); while( true ) { sts = APS_get_motion_status( AxisID); ``` ```txt if( sts& MTS_TM ) // At maximum torque { // Check position ret = APS_get_position_f( AxisID, &pos); if( pos >= TargetPos) break; } ``` See also： ```txt APS_set_command_control_mode ``` ```txt APS_motion_status ``` ```txt APS_stop_move ``` ```txt APS_emg_stop ``` # APS\_get\_torque\_command Support Products： PCIe-833x # Descriptions： This function is used to get command torque value. # Syntax： ```txt C/C++: ``` APS\_get\_torque\_command( I32 AxisID, I32 \*TorqueCmd ) Visual Basic : APS\_get\_torque\_command( ByVal Axis\_ID As Long, ByRef TorqueCmd As Long ) As Integer # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \*TorqueCmd： Command torque in unit of 0.1%. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```c // Start torque move. Assign output torque to be 30%, reach time is 50ms. ret = APS_torque_move( AxisID, 300, 50, 1, NULL ); // Monitor torque in timer procedure. ret = APS_get_torque_command( AxisID, &TrqCmd ); ..... ``` # See also： APS\_set\_command\_control\_mode APS\_get\_actual\_torque # APS\_get\_actual\_torque Support Products： PCIe-833x # Descriptions： This function is used to get actual torque value from device. # Syntax： C/C++： I32 FNTYPE APS\_get\_actual\_torque( I32 Axis\_ID, I32 \*Torque ) Visual Basic： APS\_get\_actual\_torque(ByVal Axis\_ID As Integer, ByRef Torque As Integer) As Integer # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. I32 \*Torque： The actual torque value from device. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： # See also： APS\_get\_torque\_command # APS\_set\_command\_control\_mode Support Products： PCIe-833x # Descriptions： This function is used to set the command control mode of axis to cyclic synchronous position (CSP)mode or cyclic synchronous torque(CST) mode. Please notice the information showed below： a. The connected axes are set to CSP mode automatically after servo on procedure. b. The bit 7 “TM” in motion status will be meaningful when command control mode switch to CST mode successfully. c. Behavior that servo driver, provided by different vendor, processes dynamic switch of operation mode will not be not the same. Before mode switching, suggest confirming the status of axis is stopped or it can result in failed switch. # Syntax： ```txt C/C++: ``` I32 APS\_set\_command\_control\_mode( I32 AxisID, U8 Mode ) Visual Basic : APS\_set\_command\_control\_mode( ByVal Axis\_ID As Long, ByVal Mode As Byte ) As Integer # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. U8 Mode： The command control mode setting value. The value meaning shows below： 0 = CSP mode. 1 = CST mode. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： ```c // Initial procedure ret = APS_initial(&BoardID_InBits, 0); ret = APS_scan_field_bus(BoardID, BusNo); ret = APS_start_field_bus(BoardID, BusNo, StartAxisID); // Axis initial and switch command mode to CST. ``` ```txt ret = APS_set_servo_on( AxisID, 1 ); ret = APS_set_axis_param( AxisID, PRA_TRQ_STP_TIME, 10 ); // Torque stop time is 10ms ret = APS_get_actual_torque( AxisID, &torque ); ret = APS_set_axis_param( AxisID, PRA_INIT_TRQ, torque ); // Initial torque output from actual torque ret = APS_set_command_control_mode( AxisID, 1 ); // Change command mode to CST ret = APS_get_command_control_mode( AxisID, &mode ); If( mode != 1 ) // Mode change failed. .... ``` See also： APS\_get\_command\_control\_mode # APS\_get\_command\_control\_mode Support Products： PCIe-833x # Descriptions： This function is used to get the command control mode of axis. # Syntax： ```txt C/C++: ``` I32 APS\_get\_command\_control\_mode( I32 AxisID, U8 \*Mode ) Visual Basic : APS\_get\_command\_control\_mode( ByVal Axis\_ID As Long, ByRef Mode As Byte ) As Integer # Parameters： I32 Axis\_ID： The Axis ID from 0 to 65535. U8 \*Mode： The value of command control mode of the axis. The value meaning shows below： ```txt 0 = CSP mode. ``` ```txt 1 = CST mode. ``` 255 = The mode of operation not be assigned. # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```c // CST operation procedure APS_torque_move( AxisID, 150, 100, 1, NULL ); ...... // Prepare switch to CSP mode APS_set_command_control_mode( AxisID,, 0 ); // Change command mode to CSP APS_get_command_control_mode( AxisID,, &mode ); If( mode != 1 ) // Mode change failed. ..... // Executing absolute move to ready point. If target point is 3500 APS_ptp( AxisID, 0, 3500, NULL ); while( true ) { sts= APS_get_motion_status( AxisID); ``` ```lisp sts= ( sts>> NSTP ) & 1; // Get motion done bit APS_get_command( AxisID, &TgtCmd); // Get command position if( sts&& ( TgtCmd== 3500 ) ) // Check axis stop { // Axis stop break; } ``` See also： APS\_set\_command\_control\_mode # 37.Diagnostic function # APS\_get\_field\_bus\_frame\_loss\_diagnostic Support Products： PCIe-833x # Descriptions： The function is used to confirm if EtherCAT Master was under continuous frame losing situation. When the setting value of board parameter PRB\_ECAT\_CONTI\_FRAME\_LOSS\_CNT is more than zero, the diagnosis mechanism of frame loss will begin, getting the result through the API. Due to the design by status latch, the diagnosis resulted value to ture represents the situation of frame loss has happened before. Then, the user must reset diagnosing result through APS\_reset\_field\_bus\_frame\_loss\_diagnostic. After that, it will execute normally and lead to a new result. The used case of function is illustrates as below. ![| Event Type | Description |\n| ------------------------------ | -------------------------------- |\n| Ex: Setting is '3' | Initiation of '3' |\n| Diagnostic result | Red rectangular pulses |\n| Reset frame loss diagnostic | Green vertical pulses |\n| User's program loop update timing | Black vertical pulses |](.aps-functionlibrary-v2-1/0e5570a3523c084fb2280c2e86bff5ad41188e896f9551b2519001a6c5a1d3d7.jpg) # Syntax： $$ C / C + +: $$ I32 APS\_get\_field\_bus\_frame\_loss\_diagnostic( I32 Board\_ID, I32 BUS\_No, I32 \*Result ); Visual Basic : APS\_get\_field\_bus\_frame\_loss\_diagnostic( ByVal Board\_ID As Integer, ByVal BUS\_No As Integer, ByRef Result As Integer ) As Integer # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) only support number 0. I32 \*Result： The diagnostic result of continuous frame loss. 0 = Continuous frame loss counter does not exceed the set value. 1 = Continuous frame loss counter has exceeded the set value. # Return Values： I32 Error code： Please refer to APS Functions Return Code. Example： ```solidity // Enable frame loss diagnostic function and set continuous frame loss count to 10 APS_set_board_param( BoardID, PRB_ECAT_CONTI_FRAME_LOSS_CNT, 10 ); ...... ...... // In timer loop procedure TimerLoop() { // Check frame loss diagnostic result APS_get_field_bus_frame_loss_diagnostics( BoardID, BusNo, &Result ); If( Result == 1 ) // Continuous frame loss counter has exceeded the setting value { // Corresponding procedure ... // Reset frame loss diagnostic result APS_reset_field_bus_frame_loss_diagnostics( BoardID, BusNo); } } ``` # See also： APS\_set\_board\_param APS\_get\_board\_param APS\_reset\_field\_bus\_frame\_loss\_diagnostic # APS\_reset\_field\_bus\_frame\_loss\_diagnostic Support Products： PCIe-833x # Descriptions： This function is used to reset frame loss diagnostic result. Because the continuous frame loss diagnosis result is designed as a latch signal, it must be reset by user before the diagnosis can be performed again. # Syntax： ```txt C/C++: ``` I32 APS\_reset\_field\_bus\_frame\_loss\_diagnostic( I32 Board\_ID, I32 BUS\_No ); Visual Basic : APS\_reset\_field\_bus\_frame\_loss\_diagnostic( ByVal Board\_ID As Integer, ByVal BUS\_No As Integer ) As Integer # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) only support number 0. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # See also： APS\_get\_field\_bus\_frame\_loss\_diagnostic # APS\_get\_field\_bus\_slave\_connecting\_diagnostic Support Products： PCIe-833x # Descriptions： This function is used to confirm whether the connecting slave is in the connecting state. The used cases of function are illustrates as below. a. All slaves are in connecting. ![Based on the image provided, here is the accurate description of the flowchart:\n\n**Labeled Blocks:**\n* **PCIe-833X** (Left side)\n* **Slave 0 (Connecting)** (Bottom row, left)\n* **Slave 1 (Connecting)** (Bottom row, center)\n* **Slave 2 (Connecting)** (Bottom row, right)\n\n**Connections:**\n* A line extends from the right side of the **PCIe-833X** block.\n* This line connects to a horizontal distribution line.\n* Three separate vertical lines drop down from this horizontal line to connect to the top of each slave block (**Slave 0**, **Slave 1**, and **Slave 2**).\n\n**Additional Text:**\n* Located at the top center: `*Result = “0”`\n* Located below the result text: `*NumOfDisconnect = “0”`](.aps-functionlibrary-v2-1/520450a056fce05ff75fe12f88f4efb73cc2696de5a89bcc6d28bf3cc25dcab1.jpg) b. Not all slaves are in connecting. ![**Labeled Blocks:**\n* 'PCle-833X'\n* 'Slave 0 (Connecting)'\n* 'Slave 1 (Disconnecting)'\n* 'Slave 2 (Disconnecting)'\n\n**Connections:**\n* A line connects 'PCle-833X' to 'Slave 0 (Connecting)'.\n* A line connects 'Slave 0 (Connecting)' to 'Slave 1 (Disconnecting)', which is crossed out by a large red 'X'.\n* A line connects 'Slave 1 (Disconnecting)' to 'Slave 2 (Disconnecting)'.\n\n**Result Text:**\n* *Result = “1”\n* *NumOfDisconnect = “2”\n* **DisconnectIDArray = “(1, 2)”](.aps-functionlibrary-v2-1/2464575cf71a73b786733e32db3589b7dcf58c19e6da794cc715b8c0e0c3aa7c.jpg) # Syntax： $$ C / C + +: $$ I32 APS\_get\_field\_bus\_slave\_connecting\_diagnostic( I32 Board\_ID, I32 BUS\_No, I32 \*Result, U16 \*NumOfDisconnect, I32 \*\*DisconnectIDArray ); Visual Basic : APS\_get\_field\_bus\_slave\_connecting\_diagnostic ( ByVal Board\_ID As Integer, ByVal BUS\_No As Integer, ByRef Result As Integer, ByRef NumOfDisconnect As UShort, ByRef DisconnectIDArray As IntPrt ) As Integer # Parameters： I32 Board\_ID： ID of the target controller. It’s retrieved by successful call to APS\_initial(). I32 BUS\_No： Field bus number.(Port number) only support number 0. I32 \*Result： Result of diagnostic. 0 = Connecting slaves are all in connecting state. 1 = Connecting slaves are not all in connecting state. U16 \*NumOfDisconnect： The number of disconnecting slave. I32 \*\*DisconnectIDArray： Array of disconnecting slave id number. # Return Values： I32 Error code： Please refer to APS Functions Return Code. # Example： C/C++ sample code ```txt // Diconnecting slave id array declaration const U8 TOTAL_CONNECT_SLAVES = 8; // The number of total connecting slaves I32 *DisconnectIDArray = (I32 *)malloc(sizeof(I32) * TOTAL_CONNECT_SLAVES ); ...... ...... // In timer loop procedure TimerLoop() { // Check slave connecting diagnostic result APS_get_field_bus_slave_connecting_diagnostic( BoardID, BusNo, &Result, &NumOfDisconnect, &DisconnectIDArray ); If( Result == 1 ) // Not all slaves are in connecting state { // Corresponding procedure ... // Show disconnecting slave id For( i = 0; i < NumOfDisconnect; i++ ) { printf( "Disconnecting slave ID : %d \ n", DisconnectIDArray[i] ); } } } ``` C# sample code ```javascript // Diconnecting slave id array declaration IntPtr DisconnectIDArray = IntPtr.Zero; Int32[] SlaveIDAry; ``` ```txt ...... ...... // In timer loop procedure TimerLoop() { // Check slave connecting diagnostic result APS168.APS_get_field_bus_slave_connecting_diagnostics( BoardID, BusNo, ref Result, ref NumOfDisconnect, ref DisconnectIDArray ); If( Result == 1 ) // Not all slaves are in connecting state { // Corresponding procedure ... // Show disconnecting slave id SlaveIDAny = new Int32[NumOfDisconnect]; Marshal.Copy( DisconnectIDArray, SlaveIDAny, 0, NumOfDisconnect ); For( i = 0; i < NumOfDisconnect; i++ ) { MessageBox.Show( "Disconnecting slave ID : " + SlaveIDAny[i].ToString() ); } } } ``` # 38.Table definition # A. Board Parameter table DPAC-1000 board parameter table <table>DPAC-1000 board parameter tableNO.DefineDescriptionParameter data meaningDefault10hPRB_WDT0_VALUEWDT time out value.0 : Disable WDTN : 1~255Start watch dog timer from N and down count. Down count period is WDT0_UNIT. When timer counter reaches zero (time out), WDT_ACTION will happen.011hPRB_WDT0_COUNTERRestart WDT counting or get current WDT counter valueSet any value to restart WDT counter from WDT0_VALUEGet command to get current WDT counter.012hPRB_WDT0_UNITWDT counter down count period's unit0 : reserved1 : second2 : minute013hPRB_WDT0_ACTIONWDT time out action0 : system reboot020hPRB_TMR0_BASESet TMR0 base unit clock0~4095 : TMR ValueTimer period = ( 40 + (512 / 8.25) *TMR_value ) us.Hardware interrupt will be generated when each time out.To disable timer function, you must disable timer interrupt.021hPRB_TMR0_VALUEGet/Set timer0 value32-bit unsigned value.The counter increase one everytime when timer interrupt happens030hPRB_SYS_TMP_MONITORGet system temperature monitor data8-bit signed value.The unit is degree of C031hPRB_CPU_TMP_MONITORGet CPU temperature monitor data8-bit signed value.The unit is degree of C032hPRB_AUX_TMP_MONITORGet AUX temperature monitor data8-bit signed value.The unit is degree of C040hPRB_UART_MULTIPLIERSet UART Multiplier0 : x1 mode.If baud rate setting is 115200, the real baud rate is 115200.1 : x8 modeIf baud rate setting is 115200, the real baud rate is 115200*8 = 921600.090hPRB_PSR_MODESet manual pulser generator (MPG) input mode0 : OUT/DIR1 : CW/CCW2 : 1x AB phase3 : 2x AB phase4 : 4x AB phase491hPRB_PSR_EA_LOGICSet EA signal logic0 : EA is not inverted1 : EA is inverted092hPRB_PSR_EB_LOGICSet EB signal logic0 : EB is not inverted1 : EB is inverted010001hPRB_DPAC_DISPLAY_MODEDPAC Display mode0 : User Define Mode1 : Demo Mode110002hPRB_DPAC_DI_MODESet DI pin modes0 : GPIO mode1 : MPG input mode0 DPAC-3000 board parameter table
DPAC-3000 board parameter table
NO.DefineDescriptionParameter data meaningDefault
10hPRB_WDT0_VALUEWDT time out value.0 : Disable WDTN : 1~255Start watch dog timer from N and down count.Down count period is WDT0_UNIT. When timer counter reaches zero (time out), WDT_ACTION will happen.0
11hPRB_WDT0_COUNTERRestart WDT counting or get current WDT counter valueSet any value to restart WDT counter from WDT0_VALUEGet command to get current WDT counter.0
12hPRB_WDT0_UNITWDT counter down count period's unit0 : reserved1 : second2 : minute0
13hPRB_WDT0_ACTIONWDT time out action0 : system reboot0
20hPRB_TMR0_BASESet TMR0 base unit clock0~4095 : TMR ValueTimer period = ( 40 + (512 / 8.25) *TMR_value ) us.Hardware interrupt will be generated when each time out.To disable timer function, you must disable timer interrupt.0
21hPRB_TMR0_VALUEGet/Set timer0 value32-bit unsigned value.The counter increase one everytime when timer interrupt happens0
30hPRB_SYS_TMP_MONITORGet system temperature monitor data8-bit signed value. The unit is degree of C0
31hPRB_CPU_TMP_MONITORGet CPU temperature monitor data8-bit signed value. The unit is degree of C0
32hPRB_AUX_TMP_MONITORGet AUX temperature monitor data8-bit signed value. The unit is degree of C0
40hPRB_UART_MULTIPLIERSet UART Multiplier0 : x1 mode. If baud rate setting is 115200, the real baud rate is 115200. 1 : x8 mode If baud rate setting is 115200, the real baud rate is 115200*8 = 921600.0
90hPRB_PSR_MODESet manual pulser generator (MPG) input mode0 : OUT/DIR 1 : CW/CCW 2 : 1x AB phase 3 : 2x AB phase 4 : 4x AB phase4
91hPRB_PSR_EA_LOGICSet EA signal logic0 : EA is not inverted 1 : EA is inverted0
92hPRB_PSR_EB_LOGICSet EB signal logic0 : EB is not inverted 1 : EB is inverted0
10001hPRB_DPAC_DISPLAY_MODEDPAC Display mode0 : User Define Mode 1 : Demo Mode1
10002 hPRB_DPAC_DI_MODESet DI pin modes0 : GPIO mode 1 : MPG input mode0
PCI-8392(H) board parameter table
PCI-8392(H) Board parameter table
NO.DefineDescriptionParameter data meaningDefault
00hPRB_EMG_LOGICEMG logic setting0: Normal close1: Normal open0
10hPRB_WDTO_VALUEWDT time out value. (*1)Set 0 to disable watch dog.Set a positive value to enable watch dog function.When watch dog timer is enabled, wdt counter will count down per SSCNET cycle. Once WDT counter reaches zero (time out), SSCNET network will be stopped.0: Disable WDT N(1~2147483647) (31 bits)0
11hPRB_WDTO_COUNTERRestart WDT counting or get current WDT counter value. (*1)Set any value to restart WDT counter from WDTO_VALUE Get command to get current WDT counter.0
10000hPRB_SSC_CYCLE_TIMESSCNET 3 communication cycle time setting0: 0.888ms1: 0.444msThis value must be decided before start SSCNET communication0
(\*1) This parameter will not be saved to non-volatile memory (flash) when issue “APS\_save\_parameter\_to\_flash” PCI-8253/56 board parameter table
PCI-8253/56 Board parameter table
NO.DefineDescriptionParameter data meaningDefault
00hPRB_EMG_LOGICEMG logic setting0 : Normal close1 : Normal open0
10hPRB_WDT0_VALUEWDT time out value. (*1)Set 0 to disable watch dog.Set a positive value to enable watch dog function. When timer counter reaches zero (time out), servo signal will be turned off.0 : Disable WDTN : 1~2147483647 (31 bits)Start watch dog timer from N and down count. Down count period is cycle time.0
11hPRB_WDT0_COUNTERRestart WDT counting or get current WDT counter value.(*1)Set any value to restart WDT counter from WDT0_VALUEGet command to get current WDT counter.0
80hPRB_DENOMINATORDenominator1~ 2147483647Floating point type parameters will be divided by this value as its real value.10,000
90hPRB_PSR_MODESet manual pulser generator (MPG) input mode0 : OUT/DIR1 : CW/CCW2 : 1x AB phase3 : 2x AB phase4 : 4x AB phase4
100hPRB_BOOT_SETTINGThe data source of axis and system parameters when DSP boots. DSP will reboot when power on or PCI bus reset.0 : default table1 : Flash ROM0
110hPRB_PWM0_MAP_DOEnable the mapping between PWM0 &Do. Specify a Do channel to map PWM0. Select its mapping logic between PWM0 & Do.-1 : Disable mappingPositive number : Enable mappingBit0~7 : Specify a Do channel.Bit8 : Select logic. Set to 1 : Turning on Do maps enabling PWM0. Turning off Do maps disabling PWM0. Set to 0 : Turning on Do maps disabling PWM0. Turning off Do maps enabling PWM0.-1
111hPRB_PWM1_MAP_DOEnable the mapping between PWM1 & Do. Specify a Do channel to map PWM1. Select its mapping logic between PWM1 & Do.-1 : Disable mappingPositive number : Enable mappingBit0~7 : Specify a Do channel.Bit8 : Select logic. Set to 1 : Turning on Do maps enabling PWM1. Turning off Do maps disabling PWM1. Set to 0 : Turning on Do maps disabling PWM1. Turning off Do maps enabling PWM1.-1
112hPRB_PWM2_MAP_DOEnable the mapping between PWM2 & Do. Specify a Do channel to map PWM2. Select its mapping logic between PWM2 & Do.-1 : Disable mappingPositive number : Enable mappingBit0~7 : Specify a Do channel.Bit8 : Select logic. Set to 1 : Turning on Do maps enabling PWM2. Turning off Do maps disabling PWM2. Set to 0 : Turning on Do maps disabling PWM2. Turning off Do maps enabling PWM2.-1
113hPRB_PWM3_MAP_DOEnable the mapping between PWM3 & Do. Specify a Dochannel to map PWM3. Select its mapping logic between PWM3 & Do.-1 : Disable mappingPositive number : Enable mappingBit0~7 : Specify a Do channel.Bit8 : Select logic. Set to 1 : Turning on Do maps enabling PWM3. Turning off Do maps disabling PWM3. Set to 0 : Turning on Do maps disabling PWM3. Turning off Do maps enabling PWM3.-1
(\*1) This parameter will not be saved to non-volatile memory (flash) when issue “APS\_save\_parameter\_to\_flash” PCI(e)-7856 board parameter table
PCI(e)-7856 board parameter table
NO.DefineDescriptionParameter data meaningDefault
20hPRB_TMR0_BASESet TMR base unit clock0~127 : TMR ValueTimer period =((TMR_value + 2) * 0.1)ms.Hardware interrupt will be generated when each time out.To disable timer function, you must disable timer interrupt.0
EMX-100 board parameter table
EMX-100 Board parameter table
NO.DefineDescriptionParameter data meaningDefault
51h(81)PRB_DISCONNET_HANDLINGSet handling method for servo when network is disconnected0: Stop1: Servo off0
PCI-8254/58 / AMP-204/8C board parameter table
PCI-8254/58 / AMP-204/8C Board parameter table
NO.DefineDescriptionParameter data meaningDefault
00hPRB_EMG_LOGICEMG Logic0 : Not inverse1 : Inverse0
14hPRB_DO_LOGICDO logic0 : no invert; 1 : invert0
15hPRB_DI_LOGICDI logic0 : no invert; 1 : invert0
101hPRS_EMG_MODEEMG condition mode0 (EMO) : Servo off directly1 (EMS) : Emergency stop without servo off2 : Ignore all emergence handling but still update FPGA EMG status to motion IO status3 : Ignore all emergence handling and stop to update FPGA EMG status to motion IO status0
110hPRB_PWM0_MAP_DOEnable the mapping between PWM0 & Do.Specify a Do channel to map PWM0. Select its mapping logic between PWM0 & Do.NOTE : When disabling this parameter, the PWM output of VAO table may also be disabled.-1 : Disable mappingPositive number : Enable mappingBit0~7 : Specify a Do channel.Bit8 : Select logic. Set to 1 : Turning on Do maps enabling PWM0. Turning off Do maps disabling PWM0.Set to 0 : Turning on Do maps disabling PWM0.Turning off Do maps enabling PWM0.-1
111hPRB_PWM1_MAP_DOEnable the mapping between PWM1 & Do.Specify a Do channel to map PWM1. Select its mapping logic between PWM1 & Do.NOTE: When disabling this parameter, the PWM output of VAO table may also be disabled.-1 : Disable mappingPositive number : Enable mappingBit0~7: Specify a Do channel.Bit8: Select logic. Set to 1: Turning on Do maps enabling PWM1. Turning off Do maps disabling PWM1.Set to 0: Turning on Do maps disabling PWM1.Turning off Do maps enabling PWM1.-1
112hPRB_PWM2_MAP_DOEnable the mapping between PWM2 & Do.Specify a Do channel to map PWM2. Select its mapping logic between PWM2 & Do.NOTE: When disabling this parameter, the PWM output of VAO table may also be disabled.-1: Disable mappingPositive number: Enable mappingBit0~7: Specify a Do channel.Bit8: Select logic. Set to 1: Turning on Do maps enabling PWM2. Turning off Do maps disabling PWM2.Set to 0: Turning on Do maps disabling PWM2.Turning off Do maps enabling PWM2.-1
113hPRB_PWM3_MAP_DOEnable the mapping between PWM3 & Do.Specify a Do channel to map PWM3. Select its mapping logic between PWM3 & Do.NOTE: When disabling thisparameter, the PWM output of VAO table may also be disabled.-1: Disable mappingPositive number: Enable mappingBit0~7: Specify a Do channel.Bit8: Select logic. Set to 1: Turning on Do maps enabling PWM3. Turning off Do maps disabling PWM3.Set to 0: Turning on Do maps disabling PWM3.Turning off Do maps enabling PWM3.-1
PCIe-833x board parameter table
PCIe-833x Board parameter table
NO.DefineDescriptionParameter data meaningDefau lt
00hPRB_EMG_LOGICEMG Logic0 : Not inverse1 : Inverse0
14hPRB_DO_LOGICDO logic0 : no invert; 1 : invert0
15hPRB_DI_LOGICDI logic0 : no invert; 1 : invert0
16hPRB_IO_ACCESS_SELIO access selection0 : Mode 01 : Reserved2 : Mode 23 : Mode 3(*Note 1)0
17hPRB_ECAT_SYNC_MODEEtherCAT synchronization mode selection0 : DC mode (Default)1 : Free run0
18hPRB_OP_RETRY_COUNTEtherCAT retry OP state count.0
19hPRB_ECAT_SERVO_ON_MODEEtherCAT servo on mode selection0 : Standard mode(Default)1 : Fast mode, no check status word0
1AhPRB_ECAT_SERVO_ON_NO_RESET_ALARMEtherCAT servo on bypass reset alarm0 : No bypass reset alarm while servo on (Default)1 : Bypass reset alarm while servo on0
20hPRB_ECAT_SYNC_OFFSETEtherCAT synchronization offset percentage value for DC mode.Unit : Percenet Value range from 10 to 90.66
21hPRB_MANUAL_SLAVE_ID_SRC_1ST_GROUPSetting manual slave ID source by bit format. First group is mean “slave 0 toslave 31" by auto slave id arrange.0 : Read manual slave id from the value of SII fromConfigured Station Alias.1: Read manual slave id from AL status code by using AL control procedure(*Note 3)0
22hPRB_MANUAL_SLAVE_ID_SRC_2ND_GROUPSetting manual slave ID source by bit format.Second group is mean "slave 32 to slave 63" by auto slave id arrange.0: Read manual slave id from the value of SII from Configured Station Alias.1: Read manual slave id from AL status code by using AL control procedure(*Note 3)0
23hPRB_ECAT_CONTI_FRAME_LOSS_CNTSet the number of consecutive frame loss.Refer toAPS_get_field_bus_frame_loss_diagnosticfor more details.0: Function disable(default value)1~255: The number fo consecutive frame loss.0
101hPRB_EMG_MODEEMG condition mode0 (EMO): Servo off directly1 (EMS): Emergency stop without servo off0
104hPRB_ECAT_RESTORE_OUTPUTKeeps status for EtherCAT DIO/AIO slave device.0: Don't keep the status.1: Keep the status. (Default)(*Note 2)1
0x105PRB_DI_EMG_FILTER_ENABLESwitch setting for on-board DI and EMG signal filter.0: disable1: enable1
0x106PRB_DI_EMG_FILTER_RANGEPulse-width setting for on-board DI and EMG signal filter. If the pulse-width of input signal is less than setting value of this parameter, the input signal will be cut-off.0 : 5 uSec.1 : 10 uSec.2 : 20 uSec.3 : 40 uSec.4 : 80 uSec5 : 160 uSec0
0x107PRB_PULSER_FILTER_RANGEPulse-width setting for on-board pulser signal filter. If the pulse-width of input signal is less than setting value of this parameter, the input signal will be cut-off.(The filter is always enable)0 : 5 uSec.1 : 10 uSec.2 : 20 uSec.3 : 40 uSec.4 : 80 uSec5 : 160 uSec0
0x108PRB_PULSER_FILTER_ENABLEPulser filter switch.Pulser filter switch.0 : Disable1 : Enable1
0x109PRB_ECAT_AUTO_RECOVERYEtherCAT auto recovery function0 : Disable1 : Enable1
Note 1： The [TABLE 1] as shown below that be used to identify the corresponding behavior and consumption time of APIs in each selection setting of the parameter PRB\_IO\_ACCESS\_SEL (0x16). [TABLE 1]
PRB_IO_ACCESS_SEL(0x16) = 0PRB_IO_ACCESS_SEL(0x16) = 2PRB_IO_ACCESS_SEL(0x16) = 3
APS_set_field_bus_d_channel_outputMode :SynchronousMode :SynchronousMode :Asynchronous
APS_get_field_bus_d_channel_outputMode :SynchronousMode :AsynchronousMode :Asynchronous
APS_get_field_bus_d_channel_inputMode :SynchronousMode :AsynchronousMode :Asynchronous
PRB_IO_ACCESS_SEL(0x16) = 0PRB_IO_ACCESS_SEL(0x16) = 2PRB_IO_ACCESS_SEL(0x16) = 3
APS_set_field_bus_d_port_outputMode :SynchronousMode :SynchronousMode :Asynchronous
APS_get_field_bus_d_port_inputMode :SynchronousMode :AsynchronousMode :Asynchronous
APS_get_field_bus_d_port_outputMode :SynchronousMode :AsynchronousMode :Asynchronous
PRB_IO_ACCESS_SEL(0x16) = 0PRB_IO_ACCESS_SEL(0x16) = 2PRB_IO_ACCESS_SEL(0x16) = 3
APS_get_field_bus_a_inputMode :SynchronousMode :SynchronousMode :Synchronous
APS_set_field_bus_a_outputMode :SynchronousMode :SynchronousMode :Synchronous
APS_get_field_bus_a_outputMode :SynchronousMode :SynchronousMode :Synchronous
# Note 2： This parameter PRB\_ECAT\_RESTORE\_OUTPUT doesn’t support EU-6000 DO modules by HW limitation. # Note 3： Please make sure which mode can be supported in product manual about EtherCAT slave. More technical details please refer to ETG.1020 S (R) V1.3.0. Related API are APS\_set\_field\_bus\_module\_map and APS\_get\_field\_bus\_module\_map. Note 1： If DI is selected as CLR and the command/position value is reset by CLR, the value of counter for compare trigger and multi-latch functions may not be the same as current command/postion. Please set PRA\_CNT\_SRC again before using compare trigger and multi-latch functions. Note 2： The actual filter width may increase due to the rising time of photo-coupler. AMP-304C board parameter table
AMP-304C Board parameter table
NO.DefineDescriptionParameter data meaningDefault
0x60PRB_GPDO_SEL_C0Select channel 0 DO/CMP Output mode0 : DO1 : CMP0
0x61PRB_GPDO_SEL_C1Select channel 1 DO/CMP Output mode0 : DO1 : CMP0
0x62PRB_GPDO_SEL_C2Select channel 2 DO/CMP Output mode0 : DO1 : CMP0
0x63PRB_GPDO_SEL_C3Select channel 3 DO/CMP Output mode0 : DO1 : CMP0
0x64PRB_GPDO_SEL_C4Select channel 4 DO/CMP Output mode0 : DO1 : CMP0
0x65PRB_GPDO_SEL_C5Select channel 5 DO/CMP Output mode0 : DO1 : CMP0
0x66PRB_GPDO_SEL_C6Select channel 6 DO/CMP Output mode0 : DO1 : CMP0
0x67PRB_GPDO_SEL_C7Select channel 7 DO/CMP Output mode0 : DO1 : CMP0
0x70PRB_GPDI_SEL_C0Select channel 0 DI/EMG input source0 : DI01 : EMG00
0x71PRB_GPDI_SEL_C1Select channel 1 DI/EMG input source0 : DI11 : EMG10
0x72PRB_GPDI_SEL_C2Select channel 2 DI/EMG input source0 : DI21 : EMG20
0x73PRB_GPDI_SEL_C3Select channel 3 DI/EMG input source0 : DI31 : EMG30
0x74PRB_GPDI_SEL_C4Select channel 4 DI input source0 : DI41 : SD02 : Slow LTC03 :PCS0(Reserved)4 : CLR0 (*Note 1)0
0x75PRB_GPDI_SEL_C5Select channel 5 DI input source0 : DI51 : SD12 : Slow LTC13 : PCS1(Reserved)4 : CLR1 (*Note 1)0
0x76PRB_GPDI_SEL_C6Select channel 6 DI input source0 : DI61 : SD22 : Slow LTC23 :PCS2(Reserved)4 : CLR2 (*Note 1)0
0x77PRB_GPDI_SEL_C7Select channel 7 DI input source0 : DI71 : SD32 : Slow LTC33 :PCS3(Reserved)4 : CLR3 (*Note 1)0
0x80PRB_GPDI_LOGIC_C0Inverse DI input signal channel 00 : NOT inverse1 : Inverse0
0x81PRB_GPDI_LOGIC_C1Inverse DI input signal channel 10 : NOT inverse1 : Inverse0
0x82PRB_GPDI_LOGIC_C2Inverse DI input signal channel 20 : NOT inverse1 : Inverse0
0x83PRB_GPDI_LOGIC_C3Inverse DI input signal channel 30 : NOT inverse1 : Inverse0
0x84PRB_GPDI_LOGIC_C4Inverse DI input signal channel 40 : NOT inverse1 : Inverse0
0x85PRB_GPDI_LOGIC_C5Inverse DI input signal channel 50 : NOT inverse1 : Inverse0
0x86PRB_GPDI_LOGIC_C6Inverse DI input signal channel 60 : NOT inverse1 : Inverse0
0x87PRB_GPDI_LOGIC_C7Inverse DI input signal channel 70 : NOT inverse1 : Inverse0
0x90PRB_GPDI_FILTER_EN_C0Enable GPDI filter channel 00 : Disable1 : Enable0
0x91PRB_GPDI_FILTER_EN_C1Enable GPDI filter channel 10 : Disable1 : Enable0
0x92PRB_GPDI_FILTER_EN_C2Enable GPDI filter channel 20 : Disable1 : Enable0
0x93PRB_GPDI_FILTER_EN_C3Enable GPDI filter channel 30 : Disable1 : Enable0
0x94PRB_GPDI_FILTER_EN_C4Enable GPDI filter channel 40 : Disable1 : Enable0
0x95PRB_GPDI_FILTER_EN_C5Enable GPDI filter channel 50 : Disable1 : Enable0
0x96PRB_GPDI_FILTER_EN_C6Enable GPDI filter channel 60 : Disable1 : Enable0
0x97PRB_GPDI_FILTER_EN_C7Enable GPDI filter channel 70 : Disable1 : Enable0
0xB0PRB_LTC_FILTER_EN_C0Enable LTC0 input filter0 : Disable1 : Enable0
0xB1PRB_LTC_FILTER_EN_C1Enable LTC1 input filter0 : Disable1 : Enable0
0xB2PRB_LTC_FILTER_EN_C2Enable LTC2 input filter0 : Disable1 : Enable0
0xB3PRB_LTC_FILTER_EN_C3Enable LTC3 input filter0 : Disable1 : Enable0
0xC0PRB_GPDI_FILTER_WIDTH_C0GPDI channel 0 input pulse width lower than 8*(256*n + 77)ns will be ignored. (*Note 2)n=0~255129
0xC1PRB_GPDI_FILTER_WIDTH_C1GPDI channel 1 input pulse width lower than 8*(256*n+ 77)ns will be ignored. (*Note 2)n=0~255129
0xC2PRB_GPDI_FILTER_WIDTH_C2GPDI channel 2 input pulse width lower than 8*(256*n + 77)ns will be ignored. (*Note 2)n=0~255129
0xC3PRB_GPDI_FILTER_WIDTH_C3GPDI channel 3 input pulse width lower than 8*(256*n + 77)ns will be ignored. (*Note 2)n=0~255129
0xC4PRB_GPDI_FILTER_WIDTH_C4GPDI channel 4 input pulse width lower than 8*(256*n + 77)ns will be ignored. (*Note 2)n=0~255129
0xC5PRB_GPDI_FILTER_WIDTH_C5GPDI channel 5 input pulse width lower than 8*(256*n + 77)ns will be ignored. (*Note 2)n=0~255129
0xC6PRB_GPDI_FILTER_WIDTH_C6GPDI channel 6 input pulse width lower than 8*(256*n + 77)ns will be ignored. (*Note 2)n=0~255129
0xC7PRB_GPDI_FILTER_WIDTH_C7GPDI channel 7 input pulse width lower than 8*(256*n + 77)ns will be ignored. (*Note 2)n=0~255129
0xE0PRB_LTC_FILTER_WIDTH_C0LTC0 input pulse width lower than 8*(256*n + 77)ns will be ignored. (*Note 2)n=0~255129
0xE1PRB_LTC_FILTER_WIDTH_C1LTC1 input pulse width lower than 8*(256*n + 77)ns will be ignored. (*Note 2)n=0~255129
0xE2PRB_LTC_FILTER_WIDTH_C2LTC2 input pulse width lower than 8*(256*n + 77)ns will be ignored. (*Note 2)n=0~255129
0xE3PRB_LTC_FILTER_WIDTH_C3LTC3 input pulse width lower than 8*(256*n + 77)ns will be ignored. (*Note 2)n=0~255129
0x100PRB_TTL_DO_SEL_C0Select channel 0 TTL DO/CMP Output mode0 : TTL DO1 : TTL CMP0
0x101PRB_TTL_DO_SEL_C1Select channel 1 TTL DO/CMP Output mode0 : TTL DO1 : TTL CMP0
0x102PRB_TTL_DO_SEL_C2Select channel 2 TTL DO/CMP Output mode0 : TTL DO1 : TTL CMP0
0x103PRB_TTL_DO_SEL_C3Select channel 3 TTL DO/CMP Output mode0 : TTL DO1 : TTL CMP0
0x110PRB_TTL_DI_SEL_C0TTL DI0 selection0 : TTL DI1 : TTL LTC0
0x111PRB_TTL_DI_SEL_C1TTL DI1 selection0 : TTL DI1 : TTL LTC0
0x112PRB_TTL_DI_SEL_C2TTL DI2 selection0 : TTL DI1 : TTL LTC0
0x113PRB_TTL_DI_SEL_C3TTL DI3 selection0 : TTL DI1 : TTL LTC0
PCIe-8364RS board parameter table
PCIe-8364RS Board parameter table
NO.DefineDescriptionParameter data meaningDefault
0x00PRB_EMG_LOGICEMG Logic0 : Not inverse1 : Inverse0
0x14PRB_DO_LOGICDO logic0 : Not inverse1 : Inverse0
0x15PRB_DI_LOGICDI logic0 : Not inverse1 : Inverse0
0x16PRB_IO_ACCESS_SELIO access selection0 : Mode 01 : Reserved2 : Reserved3 : Mode 3(*Note 1)0
0x1CPRB_PT0_MOD_NOSet module(slave) no. to specify which module in topology is used for the DO control of point table 00~max. module amount in topology(*Note 2)0
0x1DPRB_PT1_MOD_NOSet module(slave) no. to specify which module in topology is used for the DO control of point table 10~max. module amount in topology(*Note 2)1
0x101PRB_EMG_MODEEMG condition mode0 (EMO) : Servo off directly1 (EMS) : Emergency stop without servo off0
0x105PRB_DI_EMG_FILTER_ENABLESwitch setting for on-board DI and EMG signal filter.0 : disable1 : enable1
0x106PRB_DI_EMG_FILTER_RANGEPulse-width setting for on-board DI and EMG signal filter. If the pulse-width of input signal is less than setting value of this parameter, the input signal will be cut-off.For DI0 : 5 uSec.1 : 10 uSec.2 : 20 uSec.3 : 40 uSec.4 : 80 uSec5 : 160 uSecFor EMG0 : 45 uSec.1 : 50 uSec.2 : 60 uSec.3 : 80 uSec.4 : 120 uSec5 : 200 uSec0
0x107PRB_PULSER_FILTER_RANGEPulse-width setting for on-board pulser signal filter. If the pulse-width of input signal is less than settingvalue of this parameter, the input signal will be cut-off. (The filter is always enable)0 : 5 uSec.1 : 10 uSec.2 : 20 uSec.3 : 40 uSec.4 : 80 uSec5 : 160 uSec0
0x108PRB_PULSER_FILTER_ENABLEPulser filter switch.Pulser filter switch.0 : Disable1 : Enable1
This parameter PRB\_IO\_ACCESS\_SEL (0x16) will activate after APS\_start\_field\_bus. That means you have to set PRB\_IO\_ACCESS\_SEL before APS\_start\_field\_bus. The following APIs can be set synchronous(Mode 0)/asynchronous(Mode 3) by PRB\_IO\_ACCESS\_SEL (0x16). APS\_set\_field\_bus\_d\_channel\_output APS\_get\_field\_bus\_d\_channel\_output APS\_get\_field\_bus\_d\_channel\_input APS\_set\_field\_bus\_d\_port\_output APS\_get\_field\_bus\_d\_port\_output APS\_get\_field\_bus\_d\_port\_input APS\_set\_field\_bus\_a\_output APS\_get\_field\_bus\_a\_output APS\_get\_field\_bus\_a\_input For asynchronous(Mode 3), DI/DO, AI/AO support max. channels and ports are as follows: Support max. 4096 DI channels or 256 DI ports (2 byte per port) Support max. 4096 DO channels or 256 DO ports (2 byte per port) Support max. 384 AI channels (2 byte per channel) Support max. 320 AO channels (2 byte per channel) # Note 2： For example, set “0” denotes the first slave in topology. Only support first 8 channels in the first DO sub-moduls of specified slave. Currently, SIEMENS ET200 has been tested. # B. Axis Parameter table (\*1)： Do not set any parameter data. (\*2)： Reset to default value when start network. PCI-8392(H) Axis parameter table (\*3)： Some SSCNET axis parameters will be rest to default value when you start SSCNET network.
PCI-8392(H) Axis parameter table
NO. (Dec.)DefineDescriptionValueDefault
00h (0)PRA_EL_LOGICPEL/MEL input logic0 : Not inverse1 : Inverse0
01h (1)PRA_ORG_LOGICORG input logic0 : Not inverse1 : Inverse0
02h (2)PRA_EL_MODEThe mode of stop when end limit ON0 : Deceleration stop1 : Stop immediately0
03h (3)PRA_MDN_CONDIMotion done condition(Affective with motion stats NSTP bit)0 : Control command done (default)1 : Command done with INP2 : Command done with ZSP3 : Command done with INP & ZSP4 : Command done with soft INP0
04h (4)~06h(6)ReservedReservedReserved
07h(7)PRA_STP_DECStop deceleration rate for APS_stop();Unit : pulse/sec $^{2}$ 100,000,000
08h(8)PRA_SPEL_ENSet Encoder event mode.0 : Disable1 : Encoder event2 : Soft-Limit (SPEL)0
09h(9)PRA_SMEL_ENSet Encoder event mode.0 : Disable1 : Encoder event2 : Soft-Limit (SMEL)0
0Ah(10)PRA_EFB_POS0SPEL / EFB position 0Unit : pulse. (I32 value)100,000
0Bh(11)PRA_EFB_POS1SMEL / EFB position 1Unit : pulse. (I32 value)-100,000
0Ch(12)PRA_EFB_CONDI0Encoder compare condition. Feedback position >= or <= EFB pos00: Great equal (>=)1: Less equal (<=)0
0Dh(13)PRA_EFB_CONDI1Encoder compare condition. Feedback position >= or <= EFB pos10: Great equal (>=)1: Less equal (<=)1
0Eh(14)PRA_EFB_SRC0Encoder event pos0 comparing counter source.0: Feedback position1: Command position0
0Fh(15)PRA_EFB_SRC1Encoder event pos0 comparing counter source.0: Feedback position1: Command position0
10h (16)PRA_HOME_MODEHome mode setting0: home mode 10
11h (17)PRA_HOME_DIRHoming direction0: positive direction1: negative direction0
12h (18)PRA_HOME_CURVEHome move acceleration / Deceleration speed pattern0: T-curve1: S-curve0
13h (19)PRA_HOME_ACCHome move acceleration/Deceleration rateUnit: pulse/sec $^{2}$ 22,520,000
14h (20)PRA_HOME_VSHoming start velocityUnit: pulse/sec0
15h (21)PRA_HOME_VMHoming maximum velocityUnit: pulse/sec225,200
16h (22)Reserved (*1)
17h (23)Reserved (*1)
18h (24)PRA_HOME_EZCEnable EZ signal alignment0: Disable1: Enable0
19h (25)PRA_HOME_VOHoming leave home velocityUnit: pulse/sec112,600
1Ah-1FhReserved
20h (32)PRA_CURVEAcceleration / Deceleration speed pattern0: T-Curve1: S-Curve0
21h (33)PRA_ACCAcceleration rateUnit: pulse/sec $^{2}$ 10,000,000
22h (34)PRA_DECDeceleration rateUnit: pulse/sec $^{2}$ 10,000,000
23h (35)PRA_VSStart velocityUnit: pulse/sec0
24h (36)Reserved
25h (37)PRA_VEEnd velocityUnit: pulse/sec0
26h~2FhReserved
30hReserved
31hReserved
32h~3FhReserved
40h (64)PRA_JG_MODEJog mode0: Free mode1: step mode0
41h (65)PRA_JG_DIRJog move direction0: Positive direction1: negative direction0
42h (66)PRA_JG_CURVEJog speed pattern0: T-curve1 : S-curve0
43h (67)PRA_JG_ACCAcceleration rateUnit : pulse/sec $^{2}$ 10,000,000
44h (68)PRA_JG_DECDeceleration rateUnit : pulse/sec $^{2}$ 10,000,000
45h (69)PRA_JG_VMMax. velocityUnit : pulse/sec1,000,000
46h (70)PRA_JG_STEPStep offsetUnit : pulse (For step mode)1,000
47h (71)PRA_JG_DELAYDelay timeUnit : ms (cycle time alignment)(For step mode)500
50h(80)PRA_MDN_DELAYMotion done delay cycle(Affective with motion stats NSTP bit )The motion status NSTP bit will be turn on after specified delay cycle, when motion done condition is met.Unit : system cycle time.0
51h(81)PRA_SINP_WDWSoft INP window setting(Affective with motion I/O status INP bit). The motion I/O status INP bit will turn on when position into soft INP range and over INP stable cycle. The INP range define is as belowINP range = (Target + window_setting) to (Target – window_setting). This function can be used by set PRA_MDM_CONDI parameter to command with soft INP.Unit : pulseValue = 1 ~2147483647200
52h(82)PRA_SINP_STBLSoft INP stable cycle(Affective with motion I/O status INP bit). The value decides how many cycles will turn on INP bit after position into soft INP range continuity.Unit : system cycle timeValue = 1 ~2147483647100
82h(130)PRA_MAX_E_LIMITMax encoder count. $2^{value}$ = encoder count limit(*5)Unit : pulse0 means rollover mode, other number means ring counter value and enable ring counter mode.0
10000hPRA_SSC_SERVO_PARAM_SRCSelect servo parameter source when start SSCNET0 : Do not update1 : Default value.2 : Flash memory0
10001hPRA_SSC_SERVO_ABS_POS_OPTEnable absolute position system.0 : Disable.1 : Enable absolute position system0
10002hPRA_SSC_SERVO_ABS_CYC_CNTAbsolute cycle counter of servo driver0 ~ 65535 (16 bit)0
10003hPRA_SSC_SERVO_ABS_RES_CNTAbsolute resolution counter of servo driver0~262143 (18bit)0
10004hPRA_SSC_TORQUE_LIMIT_PPositive torque limit value (0.1%) (*4)0~327673,000
10005hPRA_SSC_TORQUE_LIMIT_NNegative torque limit value (0.1%) (*4)0~327673,000
10006hPRA_SSC_TORQUE_CTRLTorque control enable (*3)0 : Disable,( Control with motor max. torque)1 : Enable,( Control with torque limit value)0
10007hPRA_SSC_RESOLUTIONE-gear factor $2^{Value} = \text{resolution} (*5)$ Value = 12~1818(resolution = 262144)
10008hPRA_SSC_GMRE-gear factor molecular(*6)Value = 1~10000001
10009hPRA_SSC_GDRE-gear factor denominator(*6)Value = 1~10000001
(\*4) 0.1% Set 1000 mean 100% (\*5)： This parameter is valid after re-start SSCNET network. (\*6)： This parameter is valid when PRA\_SSC\_RESOLUTION ==18 and after re-start SSCNET network. $$ \frac {1}{1 0} < \frac {P R A \_ S S C \_ G M R}{P R A \_ S S C \_ G D R} < 2 0 0 0 $$ PCI-8253/56 Axis parameter table <table>PCI-8253/56 axis parameter table.NO.DefineDescriptionValueDefault00hPRA_EL_LOGICPEL/MEL input logic0 : Not inverse1 : Inverse001hPRA_ORG_LOGICORG input logic0 : Not inverse1 : Inverse002hPRA_EL_MODEThe mode of stop when end limit ON0 : Deceleration stop1 : Stop immediately103hPRA_MDM_CONDIMotion done condition(Affective with motion stats NSTP bit)0 : Control command done1 : Command done with INP2 : Command done with ZSP3 : Command done with INP & ZSP4 : Command done with soft INP004hPRA_ALM_LOGICSet ALM logic0 : Low active1 : High active005hPRA_ZSP_LOGICSet ZSP logic0 : Low active1 : High active106hPRA_EZ_LOGICSet EZ logic0 : Low active1 : High active007hPRA_STP_DECStop deceleration rate for APS_stop();Unit : pulse/sec $^{2}$ 100,000,00008hPRA_SPEL_ENSet Encoder event mode.0 : Disable1 : Encoder event2 : Soft-Limit (SPEL)009h(9)PRA_SMEL_ENSet Encoder event mode.0 : Disable1 : Encoder event2 : Soft-Limit (SMEL)00Ah(10)PRA_EFB_POSOSPEL / EFB position 0Unit : pulse.(I32 value)100,0000Bh(11)PRA_EFB_POS1SMEL / EFB position 1Unit : pulse. (I32 value)-100,0000Ch(12)PRA_EFB_CONDI0Encoder compare condition. Feedback position >= or <= EFB pos00 : Great equal ( >= )1 : Less equal ( <= )00Dh(13)PRA_EFB_CONDI1Encoder compare condition. Feedback position >= or <= EFB pos10 : Great equal ( >= )1 : Less equal ( <= )10Eh(14)PRA_EFB_SRC0Encoder event pos0 comparing counter source.0 : Feedback position1 : Command position00Fh(15)PRA_EFB_SRC1Encoder event pos0 comparing counter source.0 : Feedback position1 : Command position010h (16)PRA_HOME_MODEHome mode setting0 : home mode 1 (ORG)1 : home mode 2 (EL)2 : home mode 3 (EZ)011h (17)PRA_HOME_DIRHoming direction0 : positive direction1 : negative direction012h (18)PRA_HOME_CURVEHome move acceleration / Deceleration speed pattern0 : T-curve1 : S-curve013h (19)PRA_HOME_ACCHome move acceleration/Deceleration rateUnit : pulse/sec $^{2}$ 22,520,00014h (20)PRA_HOME_VSHoming start velocityUnit pulse/sec015h (21)PRA_HOME_VMHoming maximum velocityUnit : pulse/sec225,20016h (22)Reserved(*1)17h (23)Reserved(*1)18h (24)PRA_HOME_EZAEZ alignment enable0 : Not enable1 : Enable019h (25)PRA_HOME_VOHoming leave home velocityUnit : pulse/sec112,6001Ah-1FhReserved(*1)20h(32)PRA_CURVEAcceleration / Deceleration speed pattern0 : T-Curve1 : S-Curve021h(33)PRA_ACCAcceleration rateUnit : pulse/sec210,000,00022h(34)PRA_DECDeceleration rateUnit : pulse/sec210,000,00023h(35)PRA_VSStart velocityUnit : pulse/sec024h(36)Reserved(*1)25h(37)PRA_VEEnd velocityUnit : pulse/sec030h(48)Reserved(*1)31h(49)Reserved(*1)32h(50)PRA_PT_STP_DO_ENEnable Do when point table stopping/pausing0 : Disable1 : Enable033h(51)PRA_PT_STP_DOSet Do value when Point table stopping0 : Set to 01 : Set to 1034h(52)PRA_PWM_OFFDisable the specified PWM output when ASTP input signal is active.0 : Disable. No action when ASTP is active.1 : PWM_CH0 output will be disabled when ASTP is active.2 : PWM_CH1 output will be disabled when ASTP is active.035h(53)PRA_DO_OFFSet Do value when ASTP input signal is active.0 : Disable. No action when ASTP is active.Bit0~3 : select DO channel.Bit8 : Set Do output value when ASTP is active.(*5)040h(64)PRA_JG_MODEJog mode0 : Free mode1 : step mode041h(65)PRA_JG_DIRJog move direction0 : Positive direction1 : negative direction042h(66)PRA_JG_CURVEJog speed pattern0 : T-curve1 : S-curve043h(67)PRA_JG_ACCAcceleration rateUnit : pulse/sec210,000,00044h(68)PRA_JG_DECDeceleration rateUnit : pulse/sec210,000,00045h(69)PRA_JG_VMMax. velocityUnit : pulse/sec10,00046h(70)PRA_JG_STEPStep offsetUnit : pulse (For step mode)1,00047h(71)PRA_JG_DELAYDelay timeUnit : ms (cycle time alignment) (For step mode)80050h(80)PRA_MDN_DELAYMotion done delay cycle (Affective with motion stats NSTP bit)The motion status NSTP bit will be turn on after specified delay cycle, when motion done condition is met.Unit : system cycle time.051h(81)PRA_SINP_WDWSoft INP window setting (Affective with motion I/O status INP bit). The motion I/O status INP bit will turn on when position into soft INP range and over INP stable cycle. The INP range define is as below INP range = (Target + window_setting) to (Target - window_setting). This function can be used by set PRA_MDM_CONDI parameter to command with soft INP.Unit : pulse Value = 1 ~ 214748364720052h(82)PRA_SINP_STBLSoft INP stable cycle (Affective with motion I/O status INP bit). The value decides how many cycles will turn on INP bit after position into soft INP range continuity.Unit : system cycle timeValue = 1~ 214748364710080h(128)PRA_PLS_IPT_MODEPulse input mode0 : OUT/DIR1 : CW/CCW2 : 1x AB phase3 : 2x AB phase4 : 4x AB phase(default)481h(129)Reserved(*1)82h(130)PRA_MAX_E_LIMITMax encoder countUnit : pulse0 means rollover mode, other number means ring countervalue and enable ring counter mode083h(131)PRA_ENC_FILTEREncoder filter0 : Disable filter(Default)1 : Enable filter(Neglect signal that smaller than 80ns)084h(132)PRA_EGEARE-Gear factor = Motor Encoder resolution(112h) / ValueValue = 1 ~ Motor Encoder resolution.40,00090h(144)PRA_KP_GAINPID controller Kp gain (*2, *3)Floating number50091h(145)PRA_KI_GAINPID controller Ki gain(*2, *3)Floating number092h(146)PRA_KD_GAINPID controller Kd gain (*2, *3)Floating number093h(147)PRA_KFF_GAINFeed forward Kff gain (*2, *3)Floating number094h(148)PRA_KVGTY_GAINGantry Kgty gain (*2, *3)Floating number095h(149)PRA_KPGTY_GAINGantry Kpgty gain (*2, *3)Floating number096h(150)PRA_IKP_GAINPID controller Kp gain in torque mode(*2, *3)Floating number1097h(151)PRA_IKI_GAINPID controller Ki gain in torque mode(*2, *3)Floating number098h(152)PRA_IKD_GAINPID controller Kd gain in torque mod(*2, *3)Floating number099h(153)PRA_IKFF_GAINFeed forward Kff gain in torque mode (*2, *3)Floating number0100h(256)PRA_M_INTERFACEMotion interface0 : Analog motion0110h(272)PRA_M_VOL_RANGEMotor voltage input range (*3, *4)Input value means ± (Value) volt10111h(273)PRA_M_MAX_SPEED DMotor maximum speed (*3, *4)Unit : RPS or mm / s100 RPS112h(274)PRA_M_ENC_RESMotor encoder resolution (*3, *4)Unit : Pulse / rev or Pulse / mm*40,000 Pulse / rev120h(288)PRA_V_OFFSETVoltage offset (*2, *3)Unit : volt0121h(289)PRA_DZ_LOWDead zone lower side (*2, *3)Unit : volt0122h(290)PRA_DZ_UPDead zone upper side (*2, *3)Unit : volt0123h(291)PRA_SAT_LIMITVoltage saturation output limit (*2, *3)Unit : volt100000124h(292)PRA_ERR_C_LEVELError counter check levelIf set to 0, it means do not check error. Other value means error check then stop level90000125h(293)PRA_V_INVERSEVoltage output inverse0 : Not inverse, 1 : Inverse0126h(294)PRA_DZ_VALAssign dead band output value(*2, *3)Unit : volt0127h(295)PRA_IW_MAXIntegral windup upper limit valueUnit : Pulse(Value must input positive value)45000128h(296)PRA_IW_MINIntegral windup lower limit valueUnit : Pulse(Value must input positive value)45000129h(297)PRA_BKL_DISTUse this parameter to define backlash length. If set to zero then backlash compensate function will be closed.Unit : Pulse012Ah(298)PRA_BKL_CNSPThis parameter will define backlash compensate consumption value. Because backlash compensate machine will consume pulse every cycle until backlash distance use up. And user must make sure initial state in motion direction before use backlash function (Direction initial state is negative, so usermove positive will trigger backlash compensate machine output pulse).Unit : Pulse0130h(304)PRA_PSR_LINKConnect pulser0: Disable, 1: Enable0131h(305)PRA_PSR_RATIOPulser ratioValue = 1 ~ 21474836471140h(320)PRA_DA_TYPEDAC output type0: Differential output1: Single output0141h(321)PRA_CONTROL_MODEClosed loop control mode (*3)0: Velocity control loop1: Torque control loop0 \*1： Do not set any parameter data. \*2： Change unit by setting system parameter 80h, if user want to change unit in program, remember re-set parameter after set system parameter 80h. \*3： Please give a correct value before use analog motion interface. \*4： This parameter is used to calculate a ratio that speed unit change to voltage unit \*5： Parameter value detail description
7654321Bit : 0
----1~8 : DO_CH0~ DO_CH7
1514131211109Bit : 8
-------ON/OFF
PCI-8144 Axis parameter table
PCI-8144 axis parameter table.
NO.DefineDescriptionValueDefault
00hPRA_EL_LOGICLimit input logic0 : positive logic1 : negative logic1
11hPRA_HOME_DIRHoming direction0 : positive direction1 : negative direction0
15hPRA_HOME_VMHoming maximum velocityUnit : pulse/sec1000
1AhPRA_ORG_STPMotion stop when ORG input is turned ON.0 : Disable1 : Enable1
20hPRA_CURVEAcceleration / Deceleration speed patternChange this parameter will affect motion parameters include PRA_ACC0 : T-curve1 : S-curve0
21hPRA_ACCAcceleration rate / Deceleration rate.If ACC = 0, Axis feed as start velocityIf ACC < 0, Axis feed as max velocityUnit : pulse/s^299903
22hReserved
23hPRA_VSStrart velocityUnit : pulse/s10
81hPRA_PLS_OPT_MODEPulse output style (mode) selection. (logic)0 = CW/CCW1 = CW/CCW(logic inverse)2 = OUT/DIR3 = OUT/DIR(logic inverse)0
212hPRA_SD_ENEnable slow down when SD input is turned ON.0 : Disable1 : Enable0
240hPRA_SPD_LIMITPosibile Maximum axis operation speed.Change this parameter will affect other motion parameters include PRA_ACC, PRA_VSUnit : pulse/sec409550
10000hPRA_CMD_CNT_ENEnable soft command counter.0 : Disable1 : Enable0
10001hPRA_MIO_SENMotion I/O : ORG, EL, STP input sensitivity setting.0 : High sensitivity1 : Low sensitivity0
10002hPRA_START_STAStart(Trigger) motion via external input pin STA.0 : Disable1 : Enable0
10003hPRA_SPEED_CHN(Set only )Set change speed command.1 : Change speed to start velocity0 : Change speed to max. speed.0
AMP-104C Axis parameter table
AMP-104C axis parameter table.
NO.DefineDescriptionValueDefault
00h(0)PRA_EL_LOGICLimit input logic0 : positive logic1 : negative logic1
10h(16)PRA_HOME_MODEHome mode setting0 : Home mode 0 (ORG + SD)1 : Home mode 1 (ORG + high constant speed)2 : Home mode 2 (ORG+ high constant speed+ down counter)*(1)0
11h(17)PRA_HOME_DIRHoming direction0 : positive direction1 : negative direction0
15h(21)PRA_HOME_VMHoming maximum velocityUnit : pulse/sec1000
1Ah(26)PRA_ORG_STPMotion stop when ORG input is turned ON.0 : Disable1 : Enable1
1Fh(31)PRA_HOME_DOWN_CO UNTERHoming down counter.Unit : pulse0 ~ 16777215*(2)0
20h(32)PRA_CURVEAcceleration / Deceleration speed patternChange this parameter will affect motion parameters include PRA_ACC0 : T-curve1 : S-curve0
21h(33)PRA_ACCAcceleration rate / Deceleration rate.If ACC = 0, Axis feed as start velocityIf ACC < 0, Axis feed as max velocityUnit : pulse/s^299984
23h(35)PRA_VSStrart velocityUnit : pulse/s50
80h(128)PRA_PLS_IPT_MODEPulse input mode0: OUT/DIR1: CW/CCW2: 1x AB phase3: 2x AB phase4: 4x AB phase1
81h(129)PRA_PLS_OPT_MODEPulse output style (mode) selection. (logic)0 = CW/CCW (mode 0)1 = CW/CCW (mode 1)2 = OUT/DIR (mode 0)3 = OUT/DIR (mode 3)Please refer toPulse outputtablefor details2
212h(530)PRA_SD_ENEnable slow down when SD input is turned ON.0: Disable1: Enable1
240h(576)PRA_SPD_LIMITPosibile Maximum axis operation speed.Change this parameter will affect other motion parameters include PRA_ACC, PRA_VS.This configuration value is between 960 ~ 4914600.Unit: pulse/sec409550
10000h(65536)PRA_CMD_CNT_ENEnable soft command counter.0: Disable1: Enable1
10001h(65537)PRA_MIO_SENMotion I/O: ORG, EL, STP input sensitivity setting.0: High sensitivity (no filter)1: Low sensitivity (with fileter)0
10002h(65538)PRA_START_STAStart(Trigger) motion via external input pin STA.0: Disable1: Enable0
10003h(65539)PRA_SPEED_CHN(Set only)Set change speed command.1: Change speed to start velocity0: Change speed to max. speed.0
\*(1) If user choose home mode 0,please make sure PRA\_ACC > 0 and PRA\_SD\_EN enable . Otherwise when start home move that will return ERR\_FunctionNotAvailable error(-13). If user choose home mode 1,please make sure PRA\_ACC < 0 and PRA\_SD\_EN disable. Otherwise when start home move that will return ERR\_FunctionNotAvailable error(-13). If user choose home mode 2,please make sure PRA\_ACC < 0 ,PRA\_SD\_EN disable and PRA\_HOME\_DOWN\_COUNTER > 0 . Otherwise when start home move that will return ERR\_FunctionNotAvailable error(-13). \*(2) This counuter will decrease (pulse number)when motor starts motion. Until counter equals zero the motor will stop motion. That is in order to prevent from endless operation that caused by breakage of origin switch. MNET-4XMO-(C) Axis parameter table
MNET-4XMO-(C) axis parameter table.
NO.DefineDescriptionValueDefault
00h (0)PRA_EL_LOGICPEL/MEL input logic0 : Not inverse1 : Inverse0
01h (1)PRA_ORG_LOGICORG input logic0 : Active low1 : Active high0
02h (2)PRA_EL_MODEThe mode of stop when end limit ON0 : Deceleration stop1 : Stop immediately0
03h (3)PRA_MDN_CONDIMotion done condition( Affective with motion stats NSTP bit)0 : Control command done (default)1 : Command done with INP0
04h (4)PRA_ALM_LOGICSet ALM Logic0 : Active low1 : Active high0
05h(5)Reserved
06h(6)PRA_EZ_LOGICSet EZ Logic0 : Falling edge1 : Rising edge0
07h(7)Reserved
08hPRA_SPEL_ENSet Encoder event mode. (*3,)0 : Disable1 : Reserved2 : Soft-Limit (SPEL)Note : mode 1 is reserved. If set, return error.0
09h(9)PRA_SMEL_ENSet Encoder event mode. (*3,)0 : Disable1 : Reserved2 : Soft-Limit (SMEL)Note : mode 1 is reserved. If set, return error.0
0Ah(10)PRA_EFB_POSOSPEL / EFB position 0 (*3,)Unit : pulse. (I32 value)(28-bit signed)100,000
0Bh(11)PRA_EFB_POS1SMEL / EFB position 1 (*3,)Unit : pulse. (I32 value)(28-bit signed)-100,000
0Ch(12)Reserved
0Dh(13)Reserved
0Eh(14)Reserved
0Fh(15)Reserved
10h (16)PRA_HOME_MODEHome mode settingHome search - 0( $1^{st}$ mode) to $12(13^{th}$ mode)Home move - 20( $1^{st}$ mode) to $32(13^{th}$ mode)Note: Home search (6 to 8) is reserved. If set, return error.0
11h (17)PRA_HOME_DIRHoming direction0: positive direction1: negative direction0
12h (18)Reserved
13h (19)Reserved
14h (20)Reserved
15h (21)PRA_HOME_VMHoming maximum velocityUnit: pulse/sec10000
16h (22)Reserved
17h (23)Reserved
18h (24)PRA_HOME_EZASpecify the EZ count up value0000(1stcount) to 1111(16thcount)0
19h (25)PRA_HOME_VOHoming leave home velocity – Specify FA speedUnit: pulse/sec152
1AhPRA_HOME_OFFSETHoming leave home distance – Specify ORG offsetUnit: pulse100
1Bh-1FhReserved
20h (32)PRA_CURVEAcceleration / Deceleration speed pattern(*4)0: T-Curve1: S-Curve0
21h (33)PRA_ACCAcceleration rateUnit: pulse/sec $^{2}$ 1000000
22h (34)PRA_DECDeceleration rateUnit: pulse/sec $^{2}$ 1000000
23h (35)PRA_VSStart velocityUnit: pulse/sec152
24h~26 hReserved
28hPRA_ACC_SRS curve ratio in acceleration.(*4)Unit: Milli%. Value = 1 ~ 100,000100,000
29hPRA_DEC_SRS curve ratio in deceleration(*4)Unit: Milli%. Value = 1 ~ 100,000100,000
2Ah~50 hReserved
53h(83)PRA_SERVO_LOGICSERVO output logic0: Active low1: Active high0
80h(128)PRA_PLS_IPT_MODEPulse input mode0: A/B X11: A/B X22: A/B X43: CW/CCW0
81h(129)PRA_PLS_OPT_MODEPulse output mode0: OUT/DIR (AL,H+)1: OUT/DIR (AH,H+)2: OUT/DIR (AL,L+)3: OUT/DIR (AH,L+)4: CW/CCW (AH)5: CW/CCW (AL)6: AB (Out Leading)7: AB (Out Lagging)0
84h(132)PRA_EGEARE-Gear factor = Motor Encoderresolution(112h) / Value (*1,)Value = 1 ~ Motor Encoder resolution.40,000
112h(274)PRA_M_ENC_RESMotor encoder resolution (*1,)Unit: Pulse / rev or Pulse / mm40,000
200h(512)PRA_PLS_IPT_LOGICPulse input logic0: don not reverse counting direction1: reverse counting direction0
201h(513)PRA_FEEDBACK_SRCSelect feedback source0: Ext. Encoder modeExt. Encoder counter & Absolute mode reference to Encoder counter.1: Stepper modeExt. Command counter & Absolute mode reference to Command counter.2: ACServo modeExt. Encoder counter & Absolute mode reference to Command counter.0
210h(528)PRA_ALM_MODEALM mode setting0: Immediate stop1: Slow down then stop0
211h(529)PRA_INP_LOGICINP input logic0: Active low1: Active high0
212h(530)PRA_SD_ENEnable SD. (*2)0: Disable1: Enable0
213h(531)PRA_SD_MODESD mode setting0: Only slow down1: Slow down and stop0
214h(532)PRA_SD_LOGICSD input logic0: Active low1: Active high0
215h(533)PRA_SD_LATCHLatch SD input0: Disable latch function1: Enable latch function0
216h(534)PRA_ERC_MODEERC mode setting0: disable1: output ERC when stopped by EL, ALM, or EMG input2: output ERC when complete home return3: both 1 and 23
217h(535)PRA_ERC_LOGICERC output logic0: Active low1: Active high0
218h(536)PRA_ERC_LENPulse width of ERC setting0: 12 us1: 102 us2: 409 us3: 1.6 ms4: 13 ms5: 52 ms6: 104 ms7: Level Output3
219h(537)Reserved
21Ah(538)Reserved
21B(539)PRA_PLS_IPT_FLTEA/EB Filter Enable0: Disable1: Enable1
21CReserved
21DPRA_LTC_LOGICLTC input logic0: Falling edge1: Rising edge0
21EPRA_IO_FILTERApply a filter to the PEL, MEL, SD, ORG, ALM, INP inputs.When a filter is applied, signal pulses shorter than 4 micro-second is ignored.0: Don't apply a filter1: Apply a filter1
21F~220Reserved
221PRA_COMPENSATION_PULSEA backlash or slip correction amount0 to 40950
222PRA_COMPENSATION_MODEBacklash or slip mode setting0: Disable1: Backlash correction2: Slip correction0
223PRA_LTC_SRCSelect latch source0: LTC pin1: ORG pin2: GCMP ON0
224PRA_LTC_DESTSelect latch target0: Command counter1: Position counter0
225PRA_LTC_DATAGet latch data (Read only)Pulse(28-bit signed)0
226PRA_GCMP_ENGeneral comparator enable & set method0: DisableOther: Enable1: data = cmp counter(regardless of counting direction)0
2 : data=cmp counter (while counting up)3 : data=cmp counter (while counting down)4 : data>cmp counter5 : data<cmp counter
227PRA_GCMP_POSGeneral comparator positionPulse (28-bit signed)0
228PRA_GCMP_SRCSelect general comparator source0 : Command counter1 : Position counter0
229PRA_GCMP_ACTIONSelect action when GCMP are met.0 : Do nothing1 : Immediate stop2 : Deceleration stop0
22APRA_GCMP_STSCheck if GCMP is met (Read only)0 : Not meet1 : meet0
22BPRA_VIBSUP_RTSupress vibration - Reverse TimeUnit : 1.6 us (16-bit unsigned)0
22CPRA_VIBSUP_FTSupress vibration - Forward TimeUnit : 1.6 us (16-bit unsigned)0
22DPRA_LATCH_DATA_SPDChoose latch data of error position or current speed for latch No.20 : Latch error position1 : Latch current speed0
22E~230Reserved
231PRA_GPDI_SELSelect gpio input - DI / LTC / SD. (*2)0 : DI1 : LTC2 : SD0
232Reserved
233(563)PRA_RDY_LOGICRDY input logic0 : Active high1 : Active low0
234h~23FhReserved
240h(576)PRA_SPD_LIMITSet Fixed SpeedUnit : pulse/sec9999847
241h(577)PRA_MAX_ACCDECGet max acceleration/deceleration which is limited by fixed speed. (Read only) (*5)Unit : pulse/sec $^{2}$ 572204589
242h(578)PRA_MIN_ACCDECGet minimum acceleration/deceleration which is limited by fixed speed. (Read only) (*5)Unit : pulse/sec $^{2}$ 17462
260h(608)PRA_SYNC_STOP_MODESet stop mode when stopping simultaneous move0 : Immediate stop1 : Deceleration stop0
\*1： This parameter is used to calculate a move ratio. It is only effective when PRA\_FEEDBACK\_SRC was set to 0 or 2. \*2： When PRA\_GPDI\_SEL set to DI/LTC, PRA\_SD\_EN automatically set to disable. Before PRA\_SD\_EN set to enable, be sure that PRA\_GPDI\_SEL set to SD mode. \*3： When positive or negative software limit is selected, command counter is used as the comparison counter. The comparison method is mentioned as follows： (EFB position 0 < command counter) for positive software limit, (EFB position 1 > command counter) for negative software limit. \*4： If PRA\_ACC\_SR and PRA\_DEC\_SR are set to 100,000, it represents the curve profile is pure S curve. If PRA\_ACC\_SR or PRA\_DEC\_SR is not equal to 100,000, it represents the curve profile is S curve with linear range. The formula is listed as below： PRA\_ACC\_SR = 2Svacc / (MaxV – StrV ) \* 100,000 milli% ![| Time (Second) | Velocity (PPS) |\n| ------------- | -------------- |\n| Ta | MaxVel |\n| Ta | StrVel |\n| Td | MaxVel |\n| Td | StrVel |](.aps-functionlibrary-v2-1/d92099c38df18bc302ea315d375f8376e03ad1216aa69a76c0bceaa8316a7ada.jpg) PRA\_DEC\_SR = 2Svacc / (MaxV – StrV ) \* 100,000 milli% \*5： According to (\*4), when the curve profile is set to S curve with linear range, the PRA\_MAX\_ACCDEC and PRA\_MIN\_ACCDEC are always return 0. The PRA\_MAX\_ACCDEC and PRA\_MIN\_ACCDEC are only available in T and pure S curve mode. MNET-1XMO Axis parameter table
MNET-1XMO axis parameter table.
NO.DefineDescriptionValueDefault
00h (0)Reserved
01h (1)PRA_ORG_LOGICORG input logic0 : Active low1 : Active high0
02h (2)PRA_EL_MODEThe mode of stop when end limit ON0 : Deceleration stop1 : Stop immediately0
03h (3)PRA_MDN_CONDIMotion done condition( Affective with motion stats NSTP bit)0 : Control command done (default)1 : Command done with INP0
04h (4)PRA_ALM_LOGICSet ALM Logic0 : Active low1 : Active high1
05h(5)Reserved
06h(6)PRA_EZ_LOGICSet EZ Logic0 : Falling edge1 : Rising edge0
07h(7)Reserved
08hPRA_SPEL_ENSet Encoder event mode. (*2,)0 : Disable1 : Reserved2 : Soft-Limit (SPEL)0
09h(9)PRA_SMEL_ENSet Encoder event mode. (*2,)0 : Disable1 : Reserved2 : Soft-Limit (SMEL)0
0Ah(10)PRA_EFB_POSOSPEL / EFB position 0 (*2,)Unit : pulse. (I32 value)(28-bit signed)100,000
0Bh(11)PRA_EFB_POS1SMEL / EFB position 1 (*2,)Unit : pulse. (I32 value)(28-bit signed)-100,000
0Ch(12)Reserved
0Dh(13)Reserved
0Eh(14)Reserved
0Fh(15)Reserved
10h (16)PRA_HOME_MODEHome mode settingHome search - 0(1stmode) to 12(13thmode)Home move - 20(1stmode) to 32(13thmode)Note : Home search (6 to 8) is reserved. If set, return error.0
11h (17)PRA_HOME_DIRHoming direction0 : positive direction1 : negative direction0
12h (18)Reserved
13h (19)Reserved
14h (20)Reserved
15h (21)PRA_HOME_VMHoming maximum velocityUnit: pulse/sec10000
16h (22)Reserved
17h (23)Reserved
18h (24)PRA_HOME_EZASpecify the EZ count up value0000(1stcount) to 1111(16thcount)0
19h (25)PRA_HOME_VOHoming leave home velocity – Specify FA speedUnit: pulse/sec0
1AhPRA_HOME_OFFSETHoming leave home distance – Specify ORG offsetUnit: pulse100
1Bh-1FhReserved
20h (32)PRA_CURVEAcceleration / Deceleration speed pattern0: T-Curve1: S-Curve0
21h (33)PRA_ACCAcceleration rateUnit: pulse/sec $^{2}$ 1000000
22h (34)PRA_DECDeceleration rateUnit: pulse/sec $^{2}$ 1000000
23h (35)PRA_VSStart velocityUnit: pulse/sec66
24h ~ 27hReserved
28hPRA_ACC_SRS curve ratio in acceleration.(*4)Unit: Milli %.Value = 1 ~ 100,000100,000
29hPRA_DEC_SRS curve ratio in deceleration(*4)Unit: Milli %.Value = 1 ~ 100,000100,000
2Ah~50 hReserved
53h(83)PRA_SERVO_LOGICSERVO output logic0: Active low1: Active high0
80h(128)PRA_PLS_IPT_MODEPulse input mode0: A/B X11: A/B X22: A/B X43: CW/CCW0
81h(129)PRA_PLS_OPT_MODEPulse output mode0: OUT/DIR (AL,H+)1: OUT/DIR (AH,H+)2: OUT/DIR (AL,L+)3: OUT/DIR (AH,L+)4: CW/CCW (AH)5: CW/CCW (AL)6: AB (Out Leading)7: AB (Out Lagging)0
84h(132)PRA_EGEARE-Gear factor = Motor Encoder resolution(112h) / Value (*1,)Value = 1 ~ Motor Encoder resolution.40,000
112h(274 )PRA_M_ENC_RESMotor encoder resolution (*1,)Unit: Pulse / rev or Pulse / mm40,000
200h(512 )PRA_PLS_IPT_LOGICPulse input logic0: don not reverse EA/EB counting1: reverse EA/EB counting0
201h(513)PRA_FEEDBACK_SRCSelect feedback source0: Ext. Encoder modeExt. Encoder counter & Absolute mode reference to Encoder counter.1: Stepper modeExt. Command counter & Absolute mode reference to Command counter.2: ACServo modeExt. Encoder counter & Absolute mode reference to Command counter.0
210h(528)PRA_ALM_MODEALM mode setting0: Immediate stop1: Slow down then stop0
211h(529)PRA_INP_LOGICINP input logic0: Active low1: Active high0
212h(530)PRA_SD_ENEnable SD0: Disable1: Enable0
213h(531)PRA_SD_MODESD mode setting0: Only slow down1: Slow down and stop0
214h(532)PRA_SD_LOGICSD input logic0: Active low1: Active high0
215h(533)PRA_SD_LATCHLatch SD input0: Disable latch function1: Enable latch function0
216h(534)PRA_ERC_MODEERC mode setting0: disable1: output ERC when stopped by EL, ALM, or EMG input2: output ERC when complete home return3: both 1 and 23
217h(535)PRA_ERC_LOGICERC output logic0: Active low1: Active high0
218h(536)PRA_ERC_LENPulse width of ERC setting0: 12 us1: 102 us2: 409 us3: 1.6 ms4: 13 ms5: 52 ms6: 104 ms7: Level Output3
219h(537)Reserved
21Ah(538)Reserved
21Bh(539)PRA_PLS_IPT_FLTEA/EB Filter Enable0: Disable1: Enable1
21Ch~21DhReserved
21EhPRA_IO_FILTERApply a filter to the PEL, MEL, SD, ORG, ALM, INP inputs.When a filter is applied, signal pulses shorter than 4 micro-second is ignored.0: Don't apply a filter1: Apply a filter1
21Fh~220hReserved
221hPRA_COMPENSATION_PULSEA backlash correction amount0 to 40950
222hPRA_COMPENSATION_MODEBacklash mode setting0: Disable1: Backlash correction0
223h~225hReserved
226hPRA_GCMP_ENGeneral comparator enable & set method(*3)0: DisableOther: Enable1: data = cmp counter(regardless of counting direction)2: data=cmp counter(while counting up)3: data=cmp counter(while counting down)4: data>cmp counter5: data<cmp counter0
227hPRA_GCMP_POSGeneral comparator position(*3)Pulse(28-bit signed)0
228hPRA_GCMP_SRCSelect general comparator source(*3)0: Command counter1: Position counter0
229hPRA_GCMP_ACTIONSelect action when GCMP are met.(*3)0 : Do nothing1 : Immediate stop2 : Deceleration stop0
22AhPRA_GCMP_STSCheck if GCMP is met (Read only)0 : Not meet1 : meet0
22BhPRA_VIBSUP_RTSupress vibration - Reverse TimeUnit : 1.6 us(16-bit unsigned)0
22ChPRA_VIBSUP_FTSupress vibration - Forward TimeUnit : 1.6 us(16-bit unsigned)0
22DhPRA_LATCH_DATA_SPDChoose latch data of error position or current speed for latch No.20 : Latch error position1 : Latch current speed0
22F~23FReserved
240h(576)PRA_SPD_LIMITSet Fixed SpeedUnit : pulse/sec6666666
241h(577)PRA_MAX_ACCDECGet max acceleration/deceleration on which is limited by fixed speed. (Read only)Unit : pulse/sec $^{2}$ 166666666
242h(578)PRA_MIN_ACCDECGet minimum acceleration/deceleration on which is limited by fixed speed. (Read only)Unit : pulse/sec $^{2}$ 5086
\*1： This parameter is used to calculate a move ratio. It is only effective when PRA\_FEEDBACK\_SRC was set to 0 or 2. \*2： When positive or negative software limit is selected, command counter is used as the comparison counter. The comparison method is mentioned as follows： (EFB position 0 < command counter) for positive software limit, (EFB position 1 > command counter) for negative software limit. \*3 : This describe how to using MNET-1XMO comparator output. Because MNET-1XMO has no unique compare trigger function. If user needs to use the comparator and output the pulse, please using GCMP related axis parameter. MNET-1XMO comparator output Example : # CN3 (mechanical input/output, power supply connector) Connects mechanical system Input/Output signals and control power for the board.
PinNameI/OFunction
1PELIPositive end limit
2MELINegative end limit
3SD/CPPI/OSlowdown input / comparator output (+)
4ORGIZero position input
5EMGIIEmergency stop input
6CPNOComparator output (-)
724VI24 VDC Power source
8GNDIGround
9GNDIGround
10FG-Frame ground
Note: The signal directions refer to the signalflow direction relative to the board: ""= Input and "O"= Output. // .... After APS initial and MNET start fieldbus I32 AxisNo = 0; // GCMP corresponding axis I32 ret = 0; ret = APS\_set\_command(AxisNo, 0); ret = APS\_set\_axis\_param(AxisNo, PRA\_GCMP\_EN, 1); // data = cmp counter (regardless of counting direction) ret = APS\_set\_axis\_param(AxisNo, PRA\_GCMP\_POS, 10000); // comparator counter set 10000 ret = APS\_set\_axis\_param(AxisNo, PRA\_GCMP\_SRC, 0); // comparator counter reference command counter ret = APS\_set\_axis\_param(AxisNo, PRA\_GCMP\_ACTION, 1); // comparator meet, this axis stop immediately ret = APS\_velocity\_move(AxisNo, 500); // // While command reach 10000, this axis will stop and comparator output high. HSL-4XMO Axis parameter table
HSL-4XMO axis parameter table.
NO.DefineDescriptionValueDefault
00h (0)PRA_EL_LOGICPEL/MEL input logic0 : Not inverse1 : Inverse0
01h (1)PRA_ORG_LOGICORG input logic0 : Active low1 : Active high0
02h (2)PRA_EL_MODEThe mode of stop when end limit ON0 : Deceleration stop1 : Stop immediately0
03h (3)Reserved
04h (4)PRA_ALM_LOGICSet ALM Logic0 : Active low1 : Active high0
05h(5)Reserved
06h(6)PRA_EZ_LOGICSet EZ Logic0 : Falling edge1 : Rising edge0
07h(7)Reserved
08hPRA_SPEL_ENSet Encoder event mode.0 : Disable1 : Reserved2 : Soft-Limit (SPEL)0
09h(9)PRA_SMEL_ENSet Encoder event mode.0 : Disable1 : Reserved2 : Soft-Limit (SMEL)0
0Ah(10)PRA_EFB_POS0SPEL / EFB position 0Unit : pulse. (I32 value)Range : -10^8 ~ 10^8100,000
0Bh(11)PRA_EFB_POS1SMEL / EFB position 1Unit : pulse. (I32 value)Range : -10^8 ~ 10^8-100,000
0Ch(12)Reserved
0Dh(13)Reserved
0Eh(14)Reserved
0Fh(15)Reserved
10h (16)PRA_HOME_MODEHome mode settingHome search - 0(1stmode) to 12(13thmode)Home move - 20(1stmode) to 32(13thmode)Note : Home search (6 to 8) is reserved. If set, return error.0
11h (17)Reserved
12h (18)Reserved
13h (19)Reserved
14h (20)Reserved
15h (21)PRA_HOME_VMHoming maximum velocityUnit : pulse/sec10000
16h (22)Reserved
17h (23)Reserved
18h (24)PRA_HOME_EZASpecify the EZ count up value0000(1stcount) to 1111(16thcount)0
19h (25)PRA_HOME_VOHoming leave home velocity – Specify FA speedUnit : pulse/sec100
1AhPRA_HOME_OFFSETHoming leave home distance – Specify ORG offsetUnit : pulse100
1Bh-1FhReserved
20h (32)PRA_CURVEAcceleration / Deceleration speed pattern0 : T-Curve1 : S-Curve0
21h (33)PRA_ACCAcceleration rateUnit : pulse/sec $^{2}$ 1000000
22h (34)PRA_DECDeceleration rateUnit : pulse/sec $^{2}$ 1000000
23h (35)PRA_VSStart velocityUnit : pulse/sec100
24h~50 hReserved
53h(83)PRA_SERVO_LOGICSERVO output logic0 : Active low1 : Active high0
80h(128)PRA_PLS_IPT_MODEPulse input mode0 : A/B X11 : A/B X22 : A/B X43 : CW/CCW0
81h(129)PRA_PLS_OPT_MODEPulse output mode0 : OUT/DIR (AL,H+)1 : OUT/DIR (AH,H+)2 : OUT/DIR (AL,L+)3 : OUT/DIR (AH,L+)4 : CW/CCW (AH)5 : CW/CCW (AL)0
84h(132)PRA_EGEARE-Gear factor = Motor Encoder resolution(112h) / Value (*1,)Value = 1 ~ Motor Encoder resolution.40,000
112h(274 )PRA_M_ENC_RESMotor encoder resolution (*1,)Unit : Pulse / rev or Pulse / mm40,000
200h(512 )PRA_PLS_IPT_LOGICPulse input logic0 : don not reverse EA/EB counting1 : reverse EA/EB counting0
201h(513 )PRA_FEEDBACK_SRCSelect feedback source0 : Encoder counter & Absolute mode reference to Encoder counter.1 : Command counter & Absolute mode reference to Command counter.2 : Encoder counter & Absolute mode reference to Command counter.0
210h(528)PRA_ALM_MODEALM mode setting0: Immediate stop1: Slow down then stop0
211h(529)PRA_INP_LOGICINP input logic0: Active low1: Active high0
212h(530)PRA_SD_ENEnable SD. (*2)0: Disable1: Enable0
213h(531)PRA_SD_MODESD mode setting0: Only slow down1: Slow down and stop0
214h(532)PRA_SD_LOGICSD input logic0: Active low1: Active high0
215h(533)PRA_SD_LATCHLatch SD input0: Disable latch function1: Enable latch function0
216h(534)PRA_ERC_MODEERC mode setting0: disable1: output ERC when stopped by EL, ALM, or EMG input2: output ERC when complete home return3: both 1 and 23
217h(535)PRA_ERC_LOGICERC output logic0: Active low1: Active high0
218h(536)PRA_ERC_LENPulse width of ERC setting0: 12 us1: 102 us2: 409 us3: 1.6 ms4: 13 ms5: 52 ms6: 104 ms7: Level Output3
219h(537)Reserved
21Ah(538)Reserved
21Bh(539)Reserved
21ChReserved
21DhPRA_LTC_LOGICLTC input logic0: Falling edge1: Rising edge0
21Eh~220hReserved
221hPRA_COMPENSATION_PULSEA backlash or slip correction amount0 to 40950
222hPRA_COMPENSATION_MODEBacklash or slip mode setting0: Disable1: Backlash correction2: Slip correction0
223hPRA_LTC_SRCSelect latch source0: LTC pin1: ORG pin2: GCMP ON0
224hPRA_LTC_DESTSelect latch target0: Command counter1: Position counter0
225hPRA_LTC_DATAGet latch data (Read only)Pulse(28-bit signed)0
226hPRA_GCMP_ENGeneral comparator enable & set method0: DisableOther: Enable1: data = cmp counter(regardless of counting direction)2: data=cmp counter(while counting up)3: data=cmp counter(while counting down)4: data>cmp counter5: data00
227hPRA_GCMP_POSSet/Get general comparator positionPulse(28-bit signed)0
228hPRA_GCMP_SRCSelect general comparator source0: Command counter1: Position counter0
229hPRA_GCMP_ACTIONSelect action when GCMP are met.0: Do nothing1: Immediate stop2: Deceleration stop0
22AhPRA_GCMP_STSCheck if GCMP is met (Read only)0: Not meet1: meet0
22BhPRA_VIBSUP_RTSupress vibration – Reverse TimeUnit : 1.6 us(16-bit unsigned)0
22ChPRA_VIBSUP_FTSupress vibration – Forward TimeUnit : 1.6 us(16-bit unsigned)0
22Dh~22FhReserved
230hReserved
231hPRA_GPDI_SELSelect gpio input – DI / LTC / SD. (*2)0 : LTC1 : SD0
232hReserved
233h(563)PRA_RDY_LOGICRDY input logic0 : Active high1 : Active low0
234h~23FhReserved
240h(576)PRA_SPD_LIMITSet Fixed SpeedUnit : pulse/sec6553500
241h(577)PRA_MAX_ACCDECGet max acceleration/deceleration which is limited by fixed speed.(Read only)Unit : pulse/sec $^{2}$ 245760000
242h(578)PRA_MIN_ACCDECGet minimum acceleration/deceleration which is limited by fixed speed.(Read only)Unit : pulse/sec $^{2}$ 7500
\*1： This parameter is used to calculate a move ratio. It is only effective when PRA\_FEEDBACK\_SRC set to 0. \*2： When PRA\_GPDI\_SEL set to DI/LTC, PRA\_SD\_EN automatically set to disable. Before PRA\_SD\_EN set to enable, be sure that PRA\_GPDI\_SEL set to SD mode. PCI(e)-8154/8158, PCI-8102/PCI-C154(+) Axis parameter table
PCI(e)-8154/8158, PCI-8102/PCI-C154(+) axis parameter table
NO.DefineDescriptionValueDefault
00h (0)PRA_EL_LOGICPEL/MEL input logic0 : Not inverse1 : Inverse0
01h (1)PRA_ORG_LOGICORG input logic0 : Active low1 : Active high0
02h (2)PRA_EL_MODEThe mode of stop when end limit(include soft-limit) ON.Deceleration profile is given according to PRA_DEC0 : Deceleration stop1 : Stop immediately0
03h (3)PRA_MDN_CONDIMotion done condition(Affective with motion stats NSTP bit)0 : Control command done (default)1 : Command done with INP0
04h (4)PRA_ALM_LOGICSet ALM Logic0 : Active low1 : Active high0
05h(5)Reserved
06h(6)PRA_EZ_LOGICSet EZ Logic0 : Falling edge1 : Rising edge0
07h(7)Reserved
08hPRA_SPEL_ENSet Encoder event mode. (*3,)0 : Disable1 : Reserved2 : Soft-Limit (SPEL)Note : mode 1 is reserved. If set, return error.0
09h(9)PRA_SMEL_ENSet Encoder event mode. (*3,)0 : Disable1 : Reserved2 : Soft-Limit (SMEL)Note : mode 1 is reserved. If set, return error.0
0Ah(10)PRA_EFB_POS0SPEL / EFB position 0 (*3,)Unit : pulse. (I32 value)(28-bit signed)100,000
0Bh(11)PRA_EFB_POS1SMEL / EFB position 1 (*3,)Unit : pulse. (I32 value)(28-bit signed)-100,000
0Ch(12)Reserved
0Dh(13)Reserved
0Eh(14)Reserved
0Fh(15)Reserved
10h (16)PRA_HOME_MODEHome mode settingHome search - 0( $1^{st}$ mode) to $12(13^{th}$ mode)Home move - 20(1stmode) to 32(13thmode)Note: Home search (6 to 8) is reserved. If set, return error.0
11h (17)PRA_HOME_DIRHoming direction0: positive direction1: negative direction0
12h (18)Reserved
13h (19)Reserved
14h (20)Reserved
15h (21)PRA_HOME_VMHoming maximum velocityUnit: pulse/sec10000
16h (22)Reserved
17h (23)Reserved
18h (24)PRA_HOME_EZASpecify the EZ count up value0000(1stcount) to 1111(16thcount)0
19h (25)PRA_HOME_VOHoming leave home velocity - Specify FA speedUnit: pulse/sec100
1AhPRA_HOME_OFFSETHoming leave home distance - Specify ORG offsetUnit: pulse100
1Bh-1FhReserved
20h (32)PRA_CURVEAcceleration / Deceleration speed pattern[0.0~1.0]0: T-Curve1: S-Curve0.0~1.0: SL-Curve(*7,)0
21h (33)PRA_ACCAcceleration rateUnit: pulse/sec2(*7,)1000000
22h (34)PRA_DECDeceleration rateUnit: pulse/sec2(*7,)1000000
23h (35)PRA_VSStart velocityUnit: pulse/sec(*7,)100
24h~27hReserved
28hReserved
29hReserved
2Ah ~ 50hReserved
53h(83)PRA_SERVO_LOGICSERVO output logic0: Active low1: Active high0
80h(128)PRA_PLS_IPT_MODEPulse input mode0: A/B X11: A/B X22: A/B X43: CW/CCW0
81h(129)PRA_PLS_OPT_MODEPulse output mode0: OUT/DIR (AL,H+)1: OUT/DIR (AH,H+)2: OUT/DIR (AL,L+)3: OUT/DIR (AH,L+)4: CW/CCW (AH)5: CW/CCW (AL)6: AB (Out Leading)7: AB (Out Lagging)0
84h(132)PRA_EGEARE-Gear factor = Motor Encoder resolution(112h) / Value (*1,)Value = 1 ~ Motor Encoder resolution.40,000
112h(274)PRA_M_ENC_RESMotor encoder resolution (*1,)Unit : Pulse / rev or Pulse / mm40,000
160h(352)PRA_PSR_IPT_MODESetting of manual pulser input mode from PA and PB pinsipt_mode=0, 1X AB phase type pulse input.ipt_mode=1, 2X AB phase type pulse input.ipt_mode=2, 4X AB phase type pulse input.ipt_mode=3,CW/CCW type pulse input.0
161h(353)Reserved
162h(354)PRA_PSR_IPT_DIRReverse the moving direction from pulse directionInverse =0, no inverse Inverse =1, Reverse moving direction0
163h(355)PRA_PSR_RATIO_VALUEreserved0
164h(356)PRA_PSR_PDVSet manual pulser ratio for actual output pulse rate. The formula for pulser output rate is (1) When PDV = 1~2047, PMG = 0~31Output Pulse Count = Input Pulser Count x (PMG + 1) x PDV / 2048(2) When PDV = 0, PMG = 0~31Output Pulse Count = Input Pulser Count x (PMG + 1)PDV = 0~20470
165h(357)PRA_PSR_PMGRefer to description of PRA_PSR_PDVPMG = 0~310
166h(358)PRA_PSR_HOME_TYPESpecified home move typeHomeType =0,CommandOrigin.(that means axis stops when command counter becomes '0')HomeType =1,Feedback Origin.(that means axis stops when feedback counter becomes '0')0
167h(359)PRA_PSR_HOME_SPDThe maximum speed in pulser home move.Unit: pulse/sec1000
168h~169hReserved
200h(512)PRA_PLS_IPT_LOGICPulse input logic0: don not reverse counting direction1: reverse counting direction0
201h(513)PRA_FEEDBACK_SRCSelect feedback source0: Ext. Encoder modeExt. Encoder counter & Absolute mode reference to Encoder counter.1: Stepper modeExt. Command counter & Absolute mode reference to Command counter.2: ACServo modeExt. Encoder counter & Absolute mode reference to Command counter.0
Reserved
210h(528)PRA_ALM_MODEALM mode setting0: Immediate stop1: Slow down then stop0
211h(529)PRA_INP_LOGICINP input logic0: Active low1: Active high0
212h(530)PRA_SD_ENEnable SD. (*2)0: Disable1: Enable0
213h(531)PRA_SD_MODESD mode setting0: Only slow down1: Slow down and stop0
214h(532)PRA_SD_LOGICSD input logic0: Active low1: Active high0
215h(533)PRA_SD_LATCHLatch SD input0 : Disable latch function1 : Enable latch function0
216h(534)PRA_ERC_MODEERC mode setting0 : disable1 : output ERC when stopped by EL, ALM, or EMG input2 : output ERC when complete home return3 : both 1 and 23
217h(535)PRA_ERC_LOGICERC output logic0 : Active low1 : Active high0
218h(536)PRA_ERC_LENPulse width of ERC setting0 : 12 us1 : 102 us2 : 409 us3 : 1.6 ms4 : 13 ms5 : 52 ms6 : 104 ms7 : Level Output3
219h(537)PRA_RESET_COUNTERReset counter's value to zero when home moving be completed.By bit setting :Bit0 : Reset counter1 (command position)0 : disable1 : enableBit1 : Reset counter2 (mechanical position)0 : disable1 : enableBit2 : Reset counter3 (deflection position)0 : disable1 : enable15
21Ah(538)Reserved
21Bh(539)PRA_PLS_IPT_FLTEA/EB Filter Enable.When a filter is applied, pulse input less than 3 CLK signal cycle long is ignored.0 : Disable1 : Enable1
21Ch(540)Reserved
21Dh(541)PRA_LTC_LOGICLTC input logicFor single latch functions use0 : Falling edge1 : Rising edge0
21Eh(542)PRA_IO_FILTERApply a filter to the PEL, MEL, SD, ORG, ALM, INP inputs. (*6)0 : Don't apply a filter1 : Apply a filter1
21F~220Reserved
221h(545)PRA_COMPENSATION_PULSEA backlash or slip correction amount0 to 40950
222h(546)PRA_COMPENSATION_MODEsuppre or slip mode setting0 : Disable1 : Backlash correction2 : Slip correction0
223h(547)PRA_LTC_SRCSelect latch source For single latch functions use0 : LTC pin1 : ORG pin2 : GCMP ON0
224h(548)PRA_LTC_DESTSelect latch target0 : Command counter1 : Position counter0
225h(549)PRA_LTC_DATAGet latch data (Read only)Pulse(28-bit signed)0
226h(550)PRA_GCMP_ENGeneral comparator enable & set method0 : DisableOther : Enable1 : data = cmp counter(regardless of counting direction)2 : data=cmp counter(while counting up)3 : data=cmp counter(while counting down)4 : data>cmp counter5 : data<cmp counter0
227h(551)PRA_GCMP_POSGeneral comparator position dataPulse (28-bit signed)0
228h(552)PRA_GCMP_SRCSelect general comparator source0 : Command counter1 : Position counter0
229h(553)PRA_GCMP_ACTIONSelect action when GCMP are met.0 : Do nothing1 : Immediate stop2 : Deceleration stop0
22Ah(554)PRA_GCMP_STSCheck if GCMP is met (Read only)0 : Not meet1 : meet0
22Bh(555)PRA_VIBSUP_RTSupress vibration - Reverse TimeUnit : 1.6 us (16-bit unsigned)0
22C(556)PRA_VIBSUP_FTSupress vibration - Forward TimeUnit : 1.6 us (16-bit unsigned)0
22Dh(557)PRA_LATCH_DATA_SPDChoose latch data of error position or current speed for APS_get_latch_data2 , LatchNum = 20 : Latch error position1 : Latch current speed0
22E~22FReserved
230h(560) (8154/8158 Only)PRA_GPDO_SELSelect DO/CMP Output mode0 : DO1 : CMP0
231(561) (8154/8158/ PCI-C154 (+) Only)PRA_GPDI_SELSelect gpio input - DI / LTC / SD / PCS / CLR / EMG. (*2)0 : DI (Active-Low)1 : LTC2 : SD3 : PCS4 : CLR5 : EMG0
231(561) (8102 Only)PRA_GPDI_SELSelect gpio input - CLR / LTC / SD / PCS.0 : CLR1 : LTC2 : SD3 : PCS0
232h(562)PRA_GPDI_LOGICSelect gpio input logic0 : Active-Low1 : Active-High0
233(563)PRA_RDY_LOGICRDY input logic0 : Active high1 : Active low0
234(564)(Only for PCI-C154(+))PRA_DI_FILTER_WIDTHDI filter width(*4)0 : 2660 nS1 : 10340 nS2 : 33380 nS3 : 94820 nS4 : 194660 nS5 : 993380 nS5
235(565)(Only for PCI-C154(+))PRA_DI_FILTER_ENDI filter enable0 : Disable1 : Enable1
236h~23FhReserved
240h(576)PRA_SPD_LIMITSet Fixed SpeedUnit : pulse/sec6553500
241h(577)PRA_MAX_ACCDECGet max acceleration/deceleration which is limited by fixed speed.(Read only)Unit : pulse/sec $^{2}$ 245760000
242h(578)PRA_MIN_ACCDECGet minimum acceleration/deceleration which is limited by fixed speed. (Read only)Unit : pulse/sec $^{2}$ 7500
250h(592)PRA_CONTI_MODEContinuous Move Mode (*5)0 : Disable1 : Enable0
251h(593)PRA_CONTI_BUFFContinuous Buffer (Read only)(*5)0 : Empty1 : Full(8102)1~3 : Buffer(8154/58/PCI-C154+)0
270h(624)PRA_TCMP_ENTrigger comparator enable & set method0 : DisableOther : Enable1 : position data = cmp counter(regardless of counting direction)2 : position data = cmp counter(while counting up)3 : position data = cmp counter (while counting down)4 : position data > cmp counter5 : position data < cmp counter0
271h(625)PRA_TCMP_POSTrigger comparator position dataPulse (28-bit signed)0
272h(626)PRA_TCMP_SRCSelect trigger comparator source0 : Command counter1 : Position counter0
273h(627)PRA_TCMP_STSCheck if TCMP is met (Read only)0 : Not meet1 : meet0
274h(628)PRA_TCMP_LOGICSet TCMP signal logic0 : Negative logic1 : Positive logic1
275h(629)PRA_TCMP_ACTIONSelect action when TCMP are met.0 : Do nothing1 : Immediate stop2 : Deceleration stop0
280h(640)PRA_ECMP_ENError comparator enable & set method0 : Disable , Others Enable.1 : comparator position data = Error counter value (regardless of counting direction),4 : comparator position data > Error counter value5 : comparator position data < Error counter value0
281h(641)PRA_ECMP_POSError comparator absolute position data.Pulse : 0 ~ 327670
283h(643)PRA_ECMP_ACTIONSelect action when ECMP are met.0 : Do nothing1 : Immediate stop2 : Decelerationstop0
284h(644)PRA_ECMP_STSCheck if ECMP is met (Read only)0 : Not meet1 : meet*If meet,please reset error counter via axis parameterPRA_ERR_COUNTER, then change this meet status to 0 automatically.0
290h(656)PRA_ERR_COUNTERError counter value.Pulse : -32768 ~ 32767(16-bit )0
2A0h(672)PRA_PCS_ENEnable PCS0 : Disable1 : Positioning for the number of pulses stored in the PRMV, starting from the time at which the PCS input signal is turned ON0
2A1h(673)PRA_PCS_LOGICPCS logic0 : Active low1 : Active high0
\*1： This parameter is used to calculate a move ratio. It is only effective when PRA\_FEEDBACK\_SRC was set to 0 or 2. \*2： When PRA\_GPDI\_SEL set to other mode such as DI/LTC, PRA\_SD\_EN automatically set to disable. Before PRA\_SD\_EN set to enable, be sure that PRA\_GPDI\_SEL set to SD mode. \*3： When positive or negative software limit is selected, command counter is used as the comparison counter. The comparison method is mentioned as follows： (EFB position 0 < command counter) for positive software limit, (EFB position 1 > command counter) for negative software limit. \*4：When we set value 0 ,the DI filter width is 2660 ns(nano second).In other words the cut off frequency is $\frac{1}{10^{-9} \times 2660 \times 2} = 187970 \mathrm{~Hz} \frac{1}{10^{-9} \times 2660 \times 2} = 187970 \mathrm{~Hz} \frac{1}{10^{-9} \times 2660 \times 2} = 187970 \mathrm{~Hz} \frac{1}{10^{-9} \times 2660 \times 2} = 187900 \mathrm{~Hz} \frac{1}{10^{-9} \times 2660 \times 2} = 187970 \mathrm{~Hz}$ \*5：Continuous Move Mode usage： Continuous motion between different numbers of axes is not allowed. I32 AxisNo = 0;// Axis ID I32 Buffer = 0; //Using buffer number I32 ContinuousMoveCount = 0; // Continuous motion executive number ret = APS\_set\_axis\_param(AxisNo, PRA\_ACC, 100000); //Set acc ret = APS\_set\_axis\_param(AxisNo, PRA\_DEC, 100000); //Set dec ret = APS\_set\_axis\_param(AxisNo, PRA\_VS, 100000); //Set start velocity ret = APS\_set\_axis\_param(AxisNo, PRA CONTI MODE, 1); //enable continuous move while(ISR==1) ```c { ret = APS_get_axis_param(AxisNo, PRA_CONTI_BUFF, & Buffer); // get using buffer number if (Buffer < 3) { ret = APS_relative_move(AxisNo, ContinuousMoveCount, 100000); if (ContinuousMoveCount == 1000) { ISR = 0; ContinuousMoveCount = 0; while (Buffer) { ret = APS_get_axis_param(AxisNo, PRA_CONTI_BUFF, & Buffer); } } else { ContinuousMoveCount++; } } } ``` } Note ： Continuous motion between different numbers of axes is not allowed. \*6： When the filter is applied, signal pulses shorter than cases below is ignored. PCIe-8154/58： (1) SD= 1.667ms (2) EL=ORG= 1.79us (3) ALM=INP= 1.43us PCI-C154+： (1) SD= 1.667ms (2) EL=ORG= 16us (3) ALM=INP= 1.43us \*7： Those parameter can set/get parameter by F64 type. EMX-100 Axis parameter table <table>EMX-100 axis parameter tableNO.DefineDescriptionValueDefaultType00h (0)PRA_EL_LOGICPEL/MEL input logic0 : not invert1 : invert0I3201h (1)PRA_ORG_LOGICORG input logic0 : not invert1 : invert0I3202h (2)PRA_EL_MODEStop mode when EL turns on.0 : Deceleration stop1 : Stopimmediately (*1)0I3204h (4)PRA_ALM_LOGICSet ALM Logic0 : not invert1 : invert0I3206h(6)PRA_EZ_LOGICSet EZ Logic0 : not invert1 : invert0I320Ah (10)PRA_SPEL_POSSoft-end-limit for positive endUnit : pulse100000I320Bh (11)PRA_SMEL_POSSoft-end-limit for negative endUnit : pulse-100000I3210h (16)PRA_HOME_MODEHome mode setting0 : home mode01 : home mode 12 : home mode216 : home mode160I3211h (17)PRA_HOME_DIRHoming direction0 : positive direction1 : negative direction0I3213h (19)PRA_HOME_ACCHome move acceleration / Deceleration rate(*2)range 1 ~500,000,000(Unit : pulse/sec2)10000I3214h (20)PRA_HOME_VSHoming start velocity(*2)range 1 ~4,000,000(Unit: pulse/sec)1I3215h (21)PRA_HOME_VMHoming maximum velocity (*2)range 1 ~ 4,000,000(Unit: pulse/sec)1000I3218h (24)PRA_HOME_EZAEZ alignment enable0: Not enable1: Enable0I3219h (25)PRA_HOME_VOHoming leave home velocity (*2)range 1 ~ 4,000,000(Unit: pulse/sec)200I321D (29)PRA_HOME_EZ_DIRHoming EZ direction0: positive direction1: negative direction0I321Eh(30)PRA_HOME_SEARCH_TARGETHome move search target *It onlys supports home mode 1 and 20: ORG1: EL0I3220h (32)PRA_SFMove acceleration / deceleration speed pattern (*2)[0~10]0: T curve10: S curve0I3221h (33)PRA_ACCAcceleration rate (*2)range 1~ 500,000,000(Unit: pulse/sec2)10000000I3222h (34)PRA_DECDeceleration rate (*2)range 1~ 500,000,000(Unit: pulse/sec2)10000000I3223h (35)PRA_VSStart velocity (*2)range 1~ 4,000,000 (Unit: pulse/sec)1I3241h (65)PRA_JG_DIRJog move direction0: Positive direction1: Negative direction0I3243h (67)PRA_JG_ACCJog move acceleration (*2)range 1~ 500,000,000(Unit : pulse/sec2)2000I3245h (69)PRA_JG_VMJog move max velocity (*2)range 1~4,000,000 (Unit : pulse/sec)1000I324Ch(76)PRA_JG_STOPJog stop mode (*2)0 : Deceleration stop1 : stop immediately1I3253h(83)PRA_SERVO_LOGICSERVO output logic0 : Active low1 : Active high0I3280h (128)PRA_PLS_IPT_MODEPulse input mode (encoder type)0 : AB pulse & 1 edge evaluation1 : AB pulse & 2 edge evaluation2 : AB pulse & 4 edge evaluation3 : pulse+ & pulse- (CW & CCW)0I3281h (129)PRA_PLS_OPT_MODEPulse output mode0 : pulse+ & pulse- (CW & CCW)1 : pulse & direction2 : AB phase & 4 edge evaluation3 : AB phase & 2 edge evaluation0I3287h(135)PRA_PLS_IPT_PIN_DIRSet DIR of encoder0 : not inverse1 : inverse0I3288h(136)PRA_PLS_OPT_PIN_DIRSet DIR signal when AB phase and CW/CCW0 : not inverse1 : inverse0I3289h(137)PRA_RST_OPT_CHG_DIOSet RST output mode0 : Reset alarm Mode1 : Output high Mode2: Output low Mode0I32B0h(176)PRA_SOFT_EL_ENSoftware EL enable0: Disable1: Enable0I32B1h(177)PRA_SOFT_EL_SRCSelect to compare encoder or command position for software limit (EL)0: command position1: encoder0I32B2h(178)PRA_PLS_IPT_NEG_DRIVESet negative driving by inverting encoder EA and EB signals0: Positive driving1: Negative driving0I32B3h(179)PRA_PLS_OPT_NEG_DRIVESet negative driving by inverting pusle out signals0: Positive driving1: Negative driving0I32B4h(180)PRA_PLS_OPT_DIRSet DIR signal to determine positive or negative motion when PRA_PLS_OPT_MODE is pulse & direction type0: positive motion if DIR is low, and vice versa1: positive motion if DIR is high, and vice versa1I32B5h(181)PRA_TRIG_VEL_PREVENTION_ENEnable triangle velocity profile prevention0: disable prevention1: enable prevention0I32201h(513)PRA_FEEDBACK_SRCSelect feedback source0: command position1: encoder0I32211h(529)PRA_INP_LOGICINP input logic0: not invert1: invert0I32233h(563)PRA_RDY_LOGICRDY input logic0: not invert1: invert0I32 (\*1)Deceleration stop rule： (1-1) S-factor =0, deceleration starts with specified dec, when speed reaches Vmax, the motion stops. (1-2) S-factor ≠ 0, there are 2 cases, depending on when the deceleration stop is commanded, as shown below： (Ⅰ). During the acceleration(red section as below figure)： The acceleration starts(or continues) to decrese to zero, then the deceleration starts with specified dec and S factor, the motion stops when the speed reaches VS. (Note that in order to keep the speed curve smooth, the speed is not decreased immediatly.) (Ⅱ). After reaching the maximum speed (③ or blue section as below figure 1)： The deceleration starts (or continues) with specified DC and S factor, and the motion stops when the speed reaches VS. ![| Time Segment | Description |\n| ------------ | ------------------------------------- |\n| Start | ①Request for Deceleration Stop |\n| Peak | Decrease the Acceleration value |\n| End | Deceleration starts when Acceleration becomes 0 |](.aps-functionlibrary-v2-1/da89771d1d9f2c4fc784312d7d82be17f992f24a3c0421464b6daae639024848.jpg) Figure 1 (\*2)Speed profile criteria
S-factorDecVSDIS(pulse)
S = 0Dec > Acc*Vmax / 8000000VS ≥ AC $\frac{1}{2}$ DIS > 2*(DAC+DDE)
10 > S > 0Any value by user configureVS ≥ AC $\frac{1}{2}$ DIS > (DAC+DDE)
S = 10Any value by user configureVS≥0.1*AC*(Dec-VS)( - $\frac{1}{2}$ )DIS > (DAC+DDE)
DIS ： Distance of motion DAC ： Distance of accelerating from VS to Vmax (red section of figure 3) DDE ： Distance of deceleration from Vmax to VS (blue section of figure 3) Note ： When distance can’t meet criteria, controller will automatically start decelerating earlier and velocity will not reach Vmax. Here are two cases as below： (a) When S = 0, as shown in Fig. 2, the acceleration stops earlier, a trapezoidal form is made so that DIS = 2 \* (DAC+DDE). (b) When S > 0, as shown in Fig. 3, to keep a smooth speed curve, the acceleration stops increasing when the number of output pulses is more than 1/12 of the total pulses. In this case, S will be set to 1, DEC will be set equal to ACC. ![Speed\nAccelerating\nStop\nDAC DAC+\nDCC DDC\ntime](.aps-functionlibrary-v2-1/d5c479fd30cbc262d24e6423e68f54f9ed262fbdfd4caa998f29ec6f1c7893a4.jpg) Figure2 ![| Time | Speed | Acceleration | Deceleration |\n|------|-------|--------------|--------------|\n| t | 1 | 0 | 0 |\n| 1 | 2 | 0 | 0 |\n| 3 | 2 | 0 | 0 |\n| 3 | 1 | 0 | 0 |](.aps-functionlibrary-v2-1/1eb9f76e58f701a3c6dd27f32733069b2d6e41d9234ef9643858a3e7c35b7ea0.jpg) Figure 3 PCI-8254/58 / AMP-204/8C Axis parameter table
PCI-8254/58 / AMP-204/8C axis parameter table
NO.DefineDescriptionValueDefaultType
00h (0)PRA_EL_LOGICPEL/MEL input logic0 : Not inverse1 : Inverse0I32
01h (1)PRA_ORG_LOGICORG input logic0 : Not inverse1 : Inverse0I32
02h (2)PRA_EL_MODEStop mode when EL turns on.Note : Deceleration profile is given according to PRA_SD_DEC.0 : Deceleration stop1 : Stop immediately0I32
03h (3)PRA_MDM_CONDIMotion done condition( Affective with motion stats NSTP bit)0 : Command done;1 : Command done with INP0I32
04h (4)PRA_ALM_LOGICSet ALM logic0 : Low active1 : High active0I32
06h (6)PRA_EZ_LOGICSet EZ logic0 : Low active1 : High active0I32
07h (7)PRA_SD_DECStop deceleration including EL stop, stop function and multi-stop().Unit : pulse/sec2100000000.0F64
08h (8)PRA_SPEL_ENSoft PEL enable0 : Disable1 : Reserved2 : Soft-Limit(SPEL)0I32
09h (9)PRA_SMEL_ENSoft MEL enable0 : Disable1: Reserved2: Soft-Limit (SMEL)0I32
0Ah (10)PRA_SPEL_POSSoft-end-limit for positive end [F64]Unit: pulse100000.0F64
0Bh (11)PRA_SMEL_POSSoft-end-limit for negative end [F64]Unit: pulse-100000.0F64
10h (16)PRA_HOME_MODEHome mode setting0: home mode 1 (ORG)1: home mode 2 (EL)2: home mode 3 (EZ)3 ~ 6 :Reserved7: home mode 7(ORG, immediately stop)8: home mode 8(EL, immediately stop)0I32
11h (17)PRA_HOME_DIRHoming direction0: positive direction1: negative direction0I32
12h (18)PRA_HOME_CURVEHome move acceleration / deceleration speed pattern[0.0 ~ 1.0]0: T curve1: S curve0.5F64
13h (19)PRA_HOME_ACCHome move acceleration / Deceleration rateUnit: pulse/sec210000.0F64
14h (20)PRA_HOME_VSHoming starting velocityUnit: pulse/sec0.0F64
15h (21)PRA_HOME_VMHoming maximum velocityUnit: pulse/sec1000.0F64
16h (22)Reserved
17h (23)PRA_HOME_SHIFTThe distance shift from EZ, EL, ORG signal.Unit: pulse0.0F64
18h (24)PRA_HOME_EZAEZ alignment enable0: Not enable1: Enable0I32
19h (25)PRA_HOME_VOHoming leave home velocityUnit: pulse/sec0.0F64
1A (26)Reserved
1B (27)PRA_HOME_POSUser defined position after homing.Unit : pulse0.0F64
20h (32)PRA_SFmove acceleration / deceleration speed pattern[ 0.0 ~ 1.0 ]0 : T curve1 : S curve0.0F64
21h (33)PRA_ACCAcceleration rateUnit : pulse/sec210000000.0F64
22h (34)PRA_DECDeceleration rateUnit : pulse/sec210000000.0F64
23h (35)PRA_VSStart velocityUnit : pulse/sec0.0F64
24h (36)PRA_VMMaximum velocityUnit : pulse/sec1000.0F64
25h (37)PRA_VEEnd velocityUnit : pulse/sec0.0F64
2Ah (42)PRA_PRE_EVENT_DISTPre-event distanceUnit : pulse0.0F64
2Bh (43)PRA_POST_EVENT_DISTPost-event distanceUnit : pulse0.0F64
32h(50)PRA_PT_STP_DO_ENEnable Do when point table stopping/pausing0 : Disable1 : Enable0I32
33h(51)PRA_PT_STP_DOSet Do value when Point table stopping0 : Set to 01 : Set to 10I32
34h(52)PRA_PWM_OFFDisable the specified PWM output when ASTP input signal is active.0 : Disable. No action when ASTP is active.1 : PWM_CH0 output will be disabled when ASTP is active.2 : PWM_CH1 output will be disabled when ASTP is active.0I32
35h(53)PRA_DO_OFFSet Do value when ASTP input signal is active.0 : Disable. No action when ASTP is active.Bit0~3 : select DO channel.Bit8 : Set Do output valuewhen ASTP is active. (*1)0I32
40h (64)PRA_JG_MODEJog mode0 : Continuous mode, 1 : Step mode0I32
41h (65)PRA_JG_DIRJog move direction0 : Positive direction 1 : Negative direction0I32
42h (66)PRA_JG_SFJog move acceleration / deceleration speed pattern0 ~ 10.0F64
43h (67)PRA_JG_ACCJog move accelerationvalue > 02000.0F64
44h (68)PRA_JG_DECJog move decelerationvalue > 02000.0F64
45h (69)PRA_JG_VMJog move max velocityvalue > 01000.0F64
46h (70)PRA_JG_OFFSETJog offset, for step modevalue >= 01000.0F64
47h (71)PRA_JG_DELAYJog delay, for step mode, microsecnod0 ~ 10,000,000 microsecnod500000I32
48h (72)PRA_JG_MAP_DI_EN(Enable Digital input map to jog command signal1 : Enable 0 : Disable Bit 0 : Active for PRA_JG_P_JOG_DI Bit 1 : Active for PRA_JG_N_JOG_DI Bit 2 : Active for PRA_JG_JOG_DI0I32
49h (73)PRA_JG_P_JOG_DI(I32) Mapping configuration for positive jog and digital input.DI Channel 0 ~ 230I32
4Ah (74)PRA_JG_N_JOG_DI(I32) Mapping configuration for negative jog and digital input.DI Channel 0 ~ 231I32
4Bh (75)PRA_JG_JOG_DI(I32) Mapping configuration for jog and digital input.DI Channel 0 ~ 232I32
51h (81)PRA_SINP_WDWSoft-INP window, unit (pulse count)0 : Disable 1~2147483647 : Enable INP window0I32
52h (82)PRA_SINP_STBTSoft-INP stable time, unit (mill-second)[0~10000] ms0I32
61h (97)PRA_GEAR_ENGAGE_RATEGear engage rate unit = 1 / sec,[>= 0.0](*) When cycle time changed,this parameter must be reset.(Cycle time = 1ms )1000.0F64
62h (98)PRA_GEAR_RATIOGear ratio[-10000.0 ~10000.0 ]1.0F64
63h (99)PRA_GANTRY_PROTECT_1E-gear gantry mode protection level 1 [ >= 0.0 ]| fbk_master - fbk_slave | >= value, sd-stop motion0.0 : disable gantry error check.>0.0 : Enable gantry error check.0.0F64
64h (100)PRA_GANTRY_PROTECT_2E-gear gantry mode protection level 2 [ >= 0.0 ]| fbk_master - fbk_slave | >= value, both servo-off0.0 : disable gantry error check.>0.0 : Enable gantry error check,0.0F64
65h(101)PRA_EGEAR_MASTERSelect gearing master axisAxisid : Specified a existed axis ID from 0 to 65535 virtual axisid :0x7fffffff0x7fffffffI32
66h(102)PRA_EGEAR_SOURCESelect gearing master source0 : command position deviation1 : feedback position deviation0I32
80h (128)PRA_PLS_IPT_MODEPulse input mode0 :DEC_OUT_DIR_MODE01 :DEC_CW_CCW_MODE02 : DEC_1XAB3 : DEC_2XAB4 : DEC_4XAB5 :DEC_OUT_DIR_MODE16 :DEC_OUT_DIR_MODE27 :DEC_OUT_DIR_MODE38 :DEC_CW_CCW_MODE10I32
81h (129)PRA_PLS_OPT_MODEPulse output mode0x00 :OUT/DIR(Mode 1)0x01 :CW/CCW(Mode 1)0x02 : 4X A/BPhase(Mode 0)0x05 : (*2)OUT/DIR(Mode 0)0x06 : (*2)OUT/DIR(Mode 3)0x07 : (*2)OUT/DIR(Mode 2)0x08 : (*2)CW/CCW(Mode 0)0x09 : (*2) 4X A/BPhase(Mode 1)Mode is base on differential signal.Please refer toPulse output tablefor details.0I32
83h (131)PRA_ENCODER_FILTEREncoder filter0I32
85h (133)PRA_ENCODER_DIREncoder direction0I32
86h (134)PRA_POS_UNIT_FACTOR1F64
88h (136)PRA_MOVE_RATIOMove ratio1.0F64
90h (144)PRA_KP_GAIN(*2)PID controller Kp gain0I32
91h (145)PRA_KI_GAIN(*2)PID controller Ki gain0I32
92h (146)PRA_KD_GAIN(*2)PID controller Kd gain0I32
93h (147)PRA_KVFF_GAIN(*2)Velocity feed-forward gain0I32
9Ah (154)PRA_KAFF_GAIN(*2)Acceleration feedforward gain0I32
9Bh(155)PRA_KP_SHIFT(*2)Proportional control result shift>0 : left shift;<0 : right shift;=0 : no shift; $[31 \sim -31]$ -5I32
9Ch(156)PRA_KI_SHIFT(*2)Integral control result shift>0 : left shift;<0 : right shift;=0 : no shift; $[31 \sim -31]$ -15I32
9Dh(157)PRA_KD_SHIFT(*2)Derivative control result shift>0 : left shift;<0 : right shift;=0 : no shift; $[31 \sim -31]$ 0I32
9Eh(158)PRA_KVFF_SHIFT(*2)Velocity feed-forward control result shift>0 : left shift;<0 : right shift;=0 : no shift; $[31 \sim -31]$ 0I32
9Fh(159)PRA_KAFF_SHIFT(*2)Acceleration feed-forward control result shift>0 : left shift;<0 : right shift;=0 : no shift; $[31 \sim -31]$ 0I32
A0h(160)PRA_PID_SHIFT(*2)PID control result shift>0 : left shift;<0 : right shift;=0 : no shift; $[31 \sim -31]$ -5I32
120h(288)PRA_SERVO_V_BIAS(*2)Servo voltage offset0F64
123h (291)PRA_SERVO_V_LIMIT(*2)Voltage saturation output limit10.0F64
124h(292)PRA_ERR_POS_LEVELError counter check level90000F64
125h(293)PRA_SERVO_V_INVERSE(*2)Control voltage inverse,1 : inverse. 0 : Not inverse0
129h(297)PRA_BKL_DISTBacklash compensation value0.0F64
12Ah(298)PRA_BKL_CNSPBacklash compensation increment value every cycle0.0F64
12Bh(299)PRA_INTEGRAL_LIMIT(*2)Integral limit2147483647I32
132h(306)PRA_BIQUAD0_A1(*2)Biquad filter0 coefficient A10F64
133h(307)PRA_BIQUAD0_A2(*2)Biquad filter0 coefficient A20F64
134h(308)PRA_BIQUAD0_B0(*2)Biquad filter0 coefficient B01F64
135h(309)PRA_BIQUAD0_B1(*2)Biquad filter0 coefficient B10F64
136h (310)PRA_BIQUAD0_B2(*2)Biquad filter0 coefficient B20F64
137h (311)PRA_BIQUAD0_DIV(*2)Biquad filter0 coefficient DIVDER1F64
138h (312)PRA_BIQUAD1_A1(*2)Biquad filter1 coefficient A10F64
139h (313)PRA_BIQUAD1_A2(*2)Biquad filter1 coefficient A20F64
13Ah(314)PRA_BIQUAD1_B0(*2)Biquad filter1 coefficient B01F64
13Bh (315)PRA_BIQUAD1_B1(*2)Biquad filter1 coefficient B10F64
13Ch(316)PRA_BIQUAD1_B2(*2)Biquad filter1 coefficient B20F64
13Dh(317)PRA_BIQUAD1_DIV(*2)Biquad filter1 coefficient DIVDER1F64
160h(352)PRA_PSR_IPT_MODEPulser input mode0 : 1xAB;1 : 2xAB;2 : 4xAB3 : CW/CCW4: OUT/DIR mode;0I32
161h(353)PRA_PSR_IPT_LOGICPulser EA and EB logic0: EAinv = 0,EBinv = 01: EAinv = 0,EBinv = 12: EAinv = 1,EBinv = 03: EAinv = 1,EBinv = 10I32
162h(354)PRA_PSR_IPT_DIRPulser input direction0: not inverse;1: inverse0I32
163h(355)PRA_PSR_RATIO_VALUEPulser ratioNon zero value1F64
168h(360)PRA_PSR_ACCPulser accelerationUnit: pulse/sec21000000F64
169h(361)PRA_PSR_JERKPulser jerkUnit: pulse/sec31000000000F64
211h (529)PRA_INP_LOGICSet inp logic0: Low active1: High active0I32
\*1： Parameter value detail description
7654321Bit : 0
----1~8 : DO_CH0~ DO_CH7
1514131211109Bit : 8
-------ON/OFF
\*2： Compatible DSP and FPGA version support only. After version will be supported too. DSP version： 2021051301. FPGA version： 0xFC361800 PCIe-833x Axis parameter table
PCIe-833x axis parameter table
NO.DefineDescriptionValueDefaultType
02h (2)PRA_EL_MODEStop mode when EL turns on. Note : Deceleration profile is given according to PRA_SD_DEC.0 : Deceleration stop1 : Stop immediately0I32
03h (3)PRA_MDM_CONDIMotion done condition (Affective with motion stats NSTP bit)0 : Command done;1 : Command done with INP0I32
07h (7)PRA_SD_DECStop deceleration including EL stop, stop function and multi-stop().Unit : pulse/sec2100000000.0F64
08h (8)PRA_SPEL_ENSoft PEL enable0 : Disable1 : Reserved2 : Soft-Limit (SPEL)0I32
09h (9)PRA_SMEL_ENSoft MEL enable0 : Disable1 : Reserved2 : Soft-Limit (SMEL)0I32
0Ah (10)PRA_SPEL_POSSoft-end-limit for positive end [ F64 ]Unit : pulse100000.0F64
0Bh (11)PRA_SMEL_POSSoft-end-limit for negative end [ F64 ]Unit : pulse-100000.0F64
10h (16)PRA_HOME_MODEHome mode setting *If user uses EtherCAT home mode, please be sure to configure other four parameters PRA_HOME_ACC, PRA_HOME_VM, PRA_HOME_VO, PRA_HOME_SHIFT. Except these four parameters as above, other homeparameters did not matter with the EtherCA servo home move.0 : home mode 0 (ORG)1 : home mode 1 (EL)2 : home mode 2 (EZ)3 : home mode 3 (Torque)4 : home mode 4 (ORG, immediately stop)5 : home mode 5 (ORG+EZ,immediately stop)6: home mode 6 (EL+EZ, immediately stop)7: home mode 7 (ORG, immediately stop)8: home mode 8 (EL, immediately stop)----About EhterCAT servo home modes, please refer to *(1) for detail mapping table description.0I32
11h (17)PRA_HOME_DIRHoming direction0: positive direction1: negative direction0I32
12h (18)PRA_HOME_CURVEHome move acceleration / deceleration speed pattern[0.0 ~ 1.0]0: T curve1: S curve0.5F64
13h (19)PRA_HOME_ACCHome move acceleration / Deceleration rateNote: If IF user uses EtherCAT home mode, the value type will change to U32.Unit: pulse/sec210000.0F64
14h (20)PRA_HOME_VSHoming starting velocityUnit: pulse/sec0.0F64
15h (21)PRA_HOME_VMHoming maximum velocityNote: If IF user uses EtherCAT home mode, the value will be mapping to CiA402 Home speed (0x6099) sub-index 1 and data type will change to U32.Unit: pulse/sec1000.0F64
16h (22)Reserved
17h (23)PRA_HOME_SHIFTThe distance shift from EZ, EL, ORG signal. Note: IF user uses EtherCAT home mode, this parameter usage is different from home mode 0 to 3. Please refer to *(2) description. Furthermore the value type will change to U32, please input U32 type value.Unit: pulse0.0F64
18h (24)PRA_HOME_EZAIn diffenert home mode have different meaning. Mode 0~3: EZ alignment enable Mode 4~6: EZ pulses counterMode 0~3 0: Not enable 1: Enable Mode 4~6: Counter 0 ~ 150I32
19h (25)PRA_HOME_VOHoming leave home velocity Note: If IF user uses EtherCAT home mode, the value will be mapping to CiA402 Home speed (0x6099) sub-index 2 and data type will change to U32.Unit: pulse/sec200F64
1Ah(26)PRA_HOME_OFFSETHoming leave ORG once distanceUnit: pulse0F64
1Bh(27)PRA_HOME_POSUser defined position after homing.Unit: pulse0.0F64
1Ch(28)PRA_HOME_TORQ UETorque-Limit value setting for home move. About the definition and unit in this parameter, please refer to CiA 402 Object-Dictionary (index: 0x6077) in EtherCAT servo driver user manual.Range: 0~3276710I32
1Dh (29)PRA_HOME_EZ_DIRSelect EZ searching direction in home mode 0(ORG)0: Original EZ searching direction (default);1: Opposite EZ searching direction0I32
20h (32)PRA_SFmove acceleration / deceleration speed pattern[0.0 ~ 1.0]0: T curve1: S curve0.0F64
21h (33)PRA_ACCAcceleration rateUnit: pulse/sec210000000.0F64
22h (34)PRA_DECDeceleration rateUnit: pulse/sec210000000.0F64
23h (35)PRA_VSStart velocityUnit: pulse/sec0.0F64
24h (36)PRA_VMMaximum velocityUnit: pulse/sec1000.0F64
25h (37)PRA_VEEnd velocityUnit: pulse/sec0.0F64
2Ah (42)PRA_PRE_EVENT_DISTPre-event distanceUnit: pulse0.0F64
2Bh (43)PRA_POST_EVENT_DISTPost-event distanceUnit: pulse0.0F64
3Ah (58)PRA_GPIO_SEL_SRCThe source of GPIO. See *(3) for more details.0: Source from on board digital input.1: Source from field bus digital input.0I32
3Bh (59)PRA_GPIO_SEL_MAPThe mapping of GPIO channel.- Manual slave ID will be supported.- Slave ID will be used when PRA_GPIO_SEL_SRC parameter set to "1".Bit0 ~ Bit7: Channel number.Bit8 ~ Bit24: Slave ID assign.0I32
3Ch (60)PRA_GPIO_SEL_ACTIONGPIO selecting action definition. See *(3) for more details.0: Emergency stop.1: Deceleration stop.2: Latch slow down to start velocity.3: Slow down to start velocity.0I32
3Dh (61)PRA_GPIO_SEL_LOGICGPIO selecting action logic.0: Action will be executed when source of DI is in "0" status.1: Action will be executed when source of DI is in "1" status.1I32
3Eh (62)PRA_GPIO_SEL_ENGPIO selecting action function enable.0: Function disable.1: Function enable.0I32
40h (64)PRA_JG_MODEJog mode0: Continuous mode,1: Step mode0I32
41h (65)PRA_JG_DIRJog move direction0: Positive direction1: Negative direction0I32
42h (66)PRA_JG_SFJog move acceleration / deceleration speed pattern0 ~ 10.0F64
43h (67)PRA_JG_ACCJog move accelerationvalue > 02000.0F64
44h (68)PRA_JG_DECJog move decelerationvalue > 02000.0F64
45h (69)PRA_JG_VMJog move max velocityvalue > 01000.0F64
46h (70)PRA_JG_OFFSETJog offset, for step modevalue >= 01000.0F64
47h (71)PRA_JG_DELAYJog delay, for step mode,microsecnod0 ~ 10,000,000 microsecnod500000I32
48h (72)PRA_JG_MAP_DI_EN(Enable Digital input map to jog command signal1 : Enable0 : DisableBit 0 : Active forPRA_JG_P_JOG_DI Bit 1 : Active forPRA_JG_N_JOG_DI Bit 2 : Active forPRA_JG_JOG_DI0I32
49h (73)PRA_JG_P_JOG_DI(I32) Mapping configuration for positive jog and digital input.DI Channel0 ~ 30I32
4Ah (74)PRA_JG_N_JOG_DI(I32) Mapping configuration for negative jog and digital input.DI Channel0 ~ 31I32
4Bh (75)PRA_JG_JOG_DI(I32) Mapping configuration for jog and digital input.DI Channel0 ~ 32I32
51h (81)PRA_SINP_WDWSoft-INP window, unit (pulse count)0 : Disable1~2147483647 : Enable INP window0I32
52h (82)PRA_SINP_STBLSoft-INP stable time, unit (milli-second)[0~10000] ms0I32
61h (97)PRA_GEAR_ENGAGE_RATEGear engage rate unit = 1 / sec, [>= 0.0](*) When cycle time changed, this parameter must be reset.(Cycle time = 1ms )1000.0F64
62h (98)PRA_GEAR_RATIOGear ratio[-10000.0 ~ 10000.0 ]1.0F64
63h (99)PRA_GANTRY_PROTECT_1E-gear gantry mode protection level 1 [ >= 0.0 ] | fbk_master - fbk_slave | >= value, sd-stop motion0.0 : disable gantry error check.>0.0: Enable gantry error check.0.0F64
64h (100)PRA_GANTRY_PROTECT_2E-gear gantry mode protection level 2 [ >= 0.0 ] | fbk_master - fbk_slave | >= value, both servo-off0.0: disable gantry error check. >0.0: Enable gantry error check,0.0F64
65h(101)PRA_EGEAR_MASTERSelect gearing master axisAxisid : Specified a existed axis ID from 0 to 65535 virtual axisid : 0x7fffffff0x7fffffffI32
66h(102)PRA_EGEAR_SOURCESelect gearing master source0: command position deviation 1: feedback position deviation0I32
86h (134)PRA_POS_UNIT_FACTOR1) The user expected command multiplied by PRA_POS_UNIT_FACTOR equals actual command pulse output. 2) The actual encoder pulse divided by PRA_POS_UNIT_FACTOR equals feedback pulse.1F64
88h (136)PRA_MOVE_RATIOMove ratio1.0F64
8Fh (143)PRA_ABSENC_FIXOFFSETThe offset between machine coordinates and user's is always keeping "FIXED" value even though field bus reconnect or PC cold boot.See *(4) for more details.0: Disable function. Others: Fix offset setting values.0I32
124h (292)PRA_ERR_C_LEVELError counter check level0F64
129h(297)PRA_BKL_DISTTotal distance to compensate backlash0.0F64
12Ah(298)PRA_BKL_CNSPThis value will compensate backlash every cycle until being equal to total distance0.0F64
144h(324)PRA_CMD_PSFCommand Reshaping Path Smooth Factor20~1000: cut-off frequency(rad/sec)0: disable0F64
160h(352)PRA_PSR_IPT_MODEPulser input mode0: 1xAB;1: 2xAB;2: 4xAB3: CW/CCW4: OUT/DIR0I32
161h(353)PRA_PSR_IPT_LOGICPulser EA and EB logic0: EAinv = 0,EBinv = 01: EAinv = 0,EBinv = 12: EAinv = 1,EBinv = 03: EAinv = 1,EBinv = 10I32
162h(354)PRA_PSR_IPT_DIRPulser input direction0: not inverse;1: inverse0I32
163h(355)PRA_PSR_RATIO_VALUEPulser ratioNon zero value1F64
168h(360)PRA_PSR_ACCPulser accelerationUnit: pulse/sec21000000F64
169h(361)PRA_PSR_JERKPulser jerkUnit: pulse/sec31000000000F64
300h(768)PRA_INIT_TRQThe initial torque value when command mode switch to CST mode.Unit: 0.1%0I32
301h(769)PRA_TRQ_STP_TIMETorque stop time setting valueUnit: 1 msSetting value equal to 0means "stop immediately".0I32
302h(770)PRA_MODE_CHANGE_STABLE_CNTStable count value when operation mode change to CSP mode. It will cause error code -9(Timeout) condition when setting value is too small. Because the jitter of servo driver is over stable count value.Unit: 1 pulse100I32
\*(1) APS & CiA402 home mode mapping table：
DATA DESCRIPTIONCiA 402 Object 6098 h : Homing method
APS mode valueCiA402 ValueDescription
872 ... 999-128 .. -1manufacturer specific
10000No homing operation required
1001 .. 10351..35Methods 1 to 35 (see the functional description)
1036 .. 112736 .. 127reserved
ADLINK provides user interface to use EtherCAT CiA402 standard 35 types servo home but there are some conditions could happen.  CiA 402 defines 35 types of home mode, but vendor’s servo drive only supports less than 35 types. That could make users can’t access all of them.  Some home mode behavior defined by CiA 402 is different from vendor’s. Because vendor maybe does not follow all CiA402 home behaviors. In words, users should refer to vendor's specfication guideline before using EtherCAT servo home mode. \*(2) Home shift of EtherCAT servo home mode： If user use EtherCA servo home mode, the parameter PRA\_HOME\_SHIFT (0x17) will be mapped to CiA402 object 0x607C Home Offset So this is different from home mode 0 \~ 3. Furthermore, the same home offset 0x607C, there could be also different define of these vendors. Take YASKAWA and PANASONIC for examples as below talbe (2-1). Set these two servo drives EtherCAT home mode (0x6098) 1033( CiA home mode 33 search EZ) and home offset (0x607C) 10000. Before home starting, the actual position (0x6064) of them is in 3000. When finish homing, the he actual position (0x6064) is different. The YASKAWA is the same with CiA402 define, but PANASONIC has it’s own difne as below chart (2-2).
VendorHome offset0x6064 (Before home)0x6064 (Home finish)
YASKAWA10000300013000
PANASONIC10000300010000
(2-1) ·原点位置检出后，此位置作为基准初始化下述的对象(预置)。 PANASONIC 6062h(Position demand value) = 6064h(Position actual value） = 607Ch(Home offset) 6063h(Position actual internal value) = 6OFCh(Position demand internal value) = 0 (2-2) \*(3) Details for GPIO selecting action function Limitation : - Axis choose single GPIO channel only. - ADLINK EtherCAT GPIO slave module support only. Details for PRA\_GPIO\_SEL\_SRC parameter : \- Board parameter “PRB\_IO\_ACCESS\_SEL” setting must be 2 or 3 when setting value is “1” (Field bus digital input). Details for PRA\_GPIO\_SEL\_ACTION parameter : \- Emergency stop ![VM\nDI signal OFF ON OFF](.aps-functionlibrary-v2-1/b4d6807c32729f0b66d06f400c9964ee462e380f30789918eb956cedddeb0729.jpg) \- Deceleration stop. Stop by axis parameter “PRA\_SD\_DEC” setting. ![The image is a graph illustrating a velocity profile triggered by a digital input signal.\n\n**Axes and Labels:**\n* The vertical axis is labeled **VM**.\n* The horizontal axis at the bottom is labeled **DI signal**. Below this label are three states: **OFF**, **ON** (enclosed in a box), and **OFF**.\n\n**Graph Line:**\n* The blue line remains horizontal at the **VM** level while the DI signal is **OFF**.\n* When the DI signal switches to **ON**, the line begins a linear descent, sloping downwards until it reaches zero.\n* Dashed vertical lines drop down from the graph to indicate the timing of the signal change.\n\n**Annotation:**\n* An orange arrow points to the beginning of the downward slope.\n* The text accompanying the arrow reads: **Start decelerate to 0 by axis parameter “PRA_SD_DEC” setting**](.aps-functionlibrary-v2-1/f41f384697c73096641dc9ab4a7b06a85eac28e51e468c94387d07fa5611af9d.jpg) \- Latch slow down to start velocity. Axis will decelerate to start velocity by axis parameter “PRA\_ACC” setting when DI activating. Even if the DI signal non-activate, the axis will not accelerate to maximum velocity. ![| DI signal | VS |\n| --------- | --- |\n| OFF | 0 |\n| ON | 0 |\n| OFF | )0 |](.aps-functionlibrary-v2-1/70d71559cced8479cd1934687e4c4ab7174cac6d9e944dfcf3e37d5bf5775a59.jpg) Start velocity will determine by axis parameter “PRA\_VS” setting. \- Slow down to start velocity. Axis will decelerate to start velocity by axis parameter “PRA\_ACC” setting when DI activating. If DI signal non-activate after decelerating finish, the axis will accelerate to the maximum velocity by axis parameter “PRA\_ACC” setting. ![This image is a velocity graph with a vertical axis labeled 'VM' and 'VS' and a horizontal axis labeled 'DI signal' showing states 'OFF,' 'ON,' and 'OFF.' A blue line represents velocity, starting at 'VM,' dropping to 'VS' when the signal is 'ON,' and returning to 'VM' when the signal goes 'OFF.'\n\nTwo text annotations with orange arrows explain the transitions:\n1. Pointing to the initial drop: 'Start decelerate to start velocity by axis parameter “PRA_ACC” setting.'\n2. Pointing to the final rise: 'Start accelerate to maximum velocity by axis parameter “PRA_ACC” setting.'](.aps-functionlibrary-v2-1/2502f757e217b4a20d3258605a5d98aff6169254e8654170348fae62bb43f72c.jpg) Start velocity will determine by axis parameter “PRA\_VS” setting. Maximum velocity will determine by axis parameter “PRA\_VM” setting. \*(4) Details for absolute encoder fix offset setting： Calculation： User’s coordinates = ( Autual position(OD：0x6064) - PRA\_ABSENC\_FIXOFFSET setting ) / PRA\_POS\_UNIT\_FACTOR setting. Limitaion： a. The value will working when using servo on API. b. CAN NOT use API as below after servo on when “PRA\_ABSENC\_FIXOFFSET” is not equal to 0. \- APS\_set\_command\_f. \- APS\_set\_position\_f. \- APS\_home\_move. c. CAN NOT set “PRA\_ABSENC\_FIXOFFSET” parameter after servo on. d. Must use “APS\_save\_parameter\_to\_flash” API after finishing parameter vaule setting. The setting value will bel loaded from flash after PC cold boot by APS\_initial argurment. ECAT-4XMO/ECAT-4XMO-MT Axis parameter table
ECAT-4XMO/ECAT-4XMO-MT axis parameter table
NO.DefineDescriptionValueDefaultType
02h (2)PRA_EL_MODEStop mode when EL turns on. Note : Deceleration profile is given according to PRA_SD_DEC.0 : Deceleration stop1 : Stop immediately0I32
03h (3)PRA_MDM_CONDIMotion done condition (Affective with motion stats NSTP bit)0 : Command done;1 : Command done with INP0I32
07h (7)PRA_SD_DECStop deceleration including EL stop, stop function and multi-stop().Unit : pulse/sec2100000000.0F64
08h (8)PRA_SPEL_ENSoft PEL enable0 : Disable1 : Reserved2 : Soft-Limit (SPEL)0I32
09h (9)PRA_SMEL_ENSoft MEL enable0 : Disable1 : Reserved2 : Soft-Limit (SMEL)0I32
0Ah (10)PRA_SPEL_POSSoft-end-limit for positive end [ F64 ]Unit : pulse100000.0F64
0Bh (11)PRA_SMEL_POSSoft-end-limit for negative end [ F64 ]Unit : pulse-100000.0F64
10h (16)PRA_HOME_MODEHome mode setting0 : home mode 0 (ORG)1 : home mode 1 (EL)2 : home mode 2 (EZ)3 : home mode 3 (Torque)4 : home mode 4 (ORG, immediately stop)5 : home mode 5 (ORG+EZ,immediately stop)6: home mode 6 (EL+EZ, immediately stop)7: home mode 7(ORG, immediately stop)8: home mode 8 (EL, immediately stop)0I32
11h (17)PRA_HOME_DIRHoming direction0: positive direction1: negative direction0I32
12h (18)PRA_HOME_CURVEHome move acceleration / deceleration speed pattern[0.0 ~ 1.0]0: T curve1: S curve0.5F64
13h (19)PRA_HOME_ACCHome move acceleration / Deceleration rateNote: If IF user uses EtherCAT home mode, the value type will change to U32.Unit: pulse/sec210000.0F64
14h (20)PRA_HOME_VSHoming starting velocityUnit: pulse/sec0.0F64
15h (21)PRA_HOME_VMHoming maximum velocityNote: If IF user uses EtherCAT home mode, the value will be mapping to CiA402 Home speed (0x6099) sub-index 1 and data type will change to U32.Unit: pulse/sec1000.0F64
16h (22)Reserved
17h (23)PRA_HOME_SHIFTThe distance shift from EZ, EL, ORG signal.Note: IF user uses EtherCAT home mode, this parameter usage is different from home mode 0 to 3.Please refer to *(2) description. Furthermore the value type will change to U32, please input U32 type value.Unit: pulse0.0F64
18h (24)PRA_HOME_EZAIn differenert home mode have different meaning. Mode 0~3 : EZ alignment enable Mode 4~6 : EZ pulses counterMode 0~3 0: Not enable 1: Enable Mode 4~6 : Counter 0 ~ 150I32
19h (25)PRA_HOME_VOHoming leave home velocity Note: If IF user uses EtherCAT home mode, the value will be mapping to CiA402 Home speed (0x6099) sub-index 2 and data type will change to U32.Unit: pulse/sec200F64
1Ah(26)PRA_HOME_OFFSETHoming leave ORG once distanceUnit: pulse0F64
1Bh(27)PRA_HOME_POSUser defined position after homing.Unit: pulse0.0F64
1Ch(28)PRA_HOME_TORQUETorque-Limit value setting for home move. About the definition and unit in this parameter, please refer to CiA 402 Object-Dictionary (index: 0x6077) in EtherCAT servo driver user manual.Range: 0~3276710I32
1Dh (29)PRA_HOME_EZ_DIRSelect EZ searching direction in home mode 0(ORG)0: Original EZ searching direction (default); 1: Opposite EZ searching direction0I32
20h (32)PRA_SFmove acceleration / deceleration speed pattern[0.0 ~ 1.0] 0: T curve 1: S curve0.0F64
21h (33)PRA_ACCAcceleration rateUnit : pulse/sec210000000.0F64
22h (34)PRA_DECDeceleration rateUnit : pulse/sec210000000.0F64
23h (35)PRA_VSStart velocityUnit : pulse/sec0.0F64
24h (36)PRA_VMMaximum velocityUnit : pulse/sec1000.0F64
25h (37)PRA_VEEnd velocityUnit : pulse/sec0.0F64
2Ah (42)PRA_PRE_EVENT_DISTPre-event distanceUnit : pulse0.0F64
2Bh (43)PRA_POST_EVENT_DISTPost-event distanceUnit : pulse0.0F64
40h (64)PRA_JG_MODEJog mode0 : Continuous mode, 1 : Step mode0I32
41h (65)PRA_JG_DIRJog move direction0 : Positive direction 1 : Negative direction0I32
42h (66)PRA_JG_SFJog move acceleration / deceleration speed pattern0 ~ 10.0F64
43h (67)PRA_JG_ACCJog move accelerationvalue > 02000.0F64
44h (68)PRA_JG_DECJog move decelerationvalue > 02000.0F64
45h (69)PRA_JG_VMJog move max velocityvalue > 01000.0F64
46h (70)PRA_JG_OFFSETJog offset, for step modevalue >= 01000.0F64
47h (71)PRA_JG_DELAYJog delay, for step mode, microsecnod0 ~ 10,000,000 microsecnod500000I32
48h (72)PRA_JG_MAP_DI_EN(Enable Digital input map to jog command signal1 : Enable 0 : Disable Bit 0 : Active for PRA_JG_P_JOG_DI Bit 1 : Active for PRA_JG_N_JOG_DIBit 2: Active for PRA_JG_JOG_DI0I32
49h (73)PRA_JG_P_JOG_DI(I32) Mapping configuration for positive jog and digital input.DI Channel 0 ~ 30I32
4Ah (74)PRA_JG_N_JOG_DI(I32) Mapping configuration for negative jog and digital input.DI Channel 0 ~ 31I32
4Bh (75)PRA_JG_JOG_DI(I32) Mapping configuration for jog and digital input.DI Channel 0 ~ 32I32
51h (81)PRA_SINP_WDWSoft-INP window, unit (pulse count)0: Disable 1~2147483647: Enable INP window0I32
52h (82)PRA_SINP_STBLSoft-INP stable time, unit (milli-second)[0~10000] ms0I32
61h (97)PRA_GEAR_ENGAGE_RATEGear engage rate unit = 1 / sec, [>= 0.0] (*) When cycle time changed, this parameter must be reset. (Cycle time = 1ms)1000.0F64
62h (98)PRA_GEAR_RATIOGear ratio[-10000.0 ~ 10000.0]1.0F64
63h (99)PRA_GANTRY_PROTECT_1E-gear gantry mode protection level 1 [ >= 0.0 ] | fbk_master - fbk_slave | >= value, sd-stop motion0.0: disable gantry error check. >0.0: Enable gantry error check.0.0F64
64h (100)PRA_GANTRY_PROTECT_2E-gear gantry mode protection level 2 [ >= 0.0 ] | fbk_master - fbk_slave | >= value, both servo-off0.0: disable gantry error check. >0.0: Enable gantry error check,0.0F64
65h(101)PRA_EGEAR_MASTERSelect gearing master axisAxisid : Specified a existed axis ID from 0 to 65535 virtual axisid : 0x7ffffff0x7ffffffI32
66h(102)PRA_EGEAR_SOURCESelect gearing master source0 : command position deviation1 : feedback position deviation0I32
86h (134)PRA_POS_UNIT_FACTOR1) The user expected command multiplied by PRA_POS_UNIT_FACTOR equals actual command pulse output.2) The actual encoder pulse divided by PRA_POS_UNIT_FACTOR equals feedback pulse.1F64
88h (136)PRA_MOVE_RATIOMove ratio1.0F64
124h (292)PRA_ERR_C_LEVELError counter check level0F64
129h(297)PRA_BKL_DISTTotal distance to compensate backlash0.0F64
12Ah(298)PRA_BKL_CNSPThis value will compensate backlash every cycle until being equal to total distance0.0F64
144h(324)PRA_CMD_PSFCommand Reshaping Path Smooth Factor20~1000 : cut-off frequency (rad/sec)0 : disable0F64
160h(352)PRA_PSR_IPT_MODEPulser input mode0 : 1xAB;1 : 2xAB;2 : 4xAB3 : CW/CCW4 : OUT/DIR0I32
161h(353)PRA_PSR_IPT_LOGICPulser EA and EB logic0 : EAinv = 0,EBinv = 01 : EAinv = 0,EBinv = 12 : EAinv = 1,EBinv = 03 : EAinv = 1,EBinv = 10I32
162h(354)PRA_PSR_IPT_DIRPulser input direction0 : not inverse;1 : inverse0I32
163h(355)PRA_PSR_RATIO_VALUEPulser ratioNon zero value1F64
168h(360)PRA_PSR_ACCPulser accelerationUnit :pulse/sec21000000F64
169h(361)PRA_PSR_JERKPulser jerkUnit :pulse/sec31000000000F64
\*(1) APS & CiA402 home mode mapping table：
DATA DESCRIPTIONCiA 402 Object 6098 h : Homing method
APS mode valueCiA402 ValueDescription
872 ... 999-128 .. -1manufacturer specific
10000No homing operation required
1001 .. 10351..35Methods 1 to 35 (see the functional description)
1036 .. 112736 .. 127reserved
ADLINK provides user interface to use EtherCAT CiA402 standard 35 types servo home but there are some conditions could happen.  CiA 402 defines 35 types of home mode, but vendor’s servo drive only supports less than 35 types. That could make users can’t access all of them.  Some home mode behavior defined by CiA 402 is different from vendor’s. Because vendor maybe does not follow all CiA402 home behaviors. In words, users should refer to vendor's specfication guideline before using EtherCAT servo home mode. \*(2) Home shift of EtherCAT servo home mode： If user use EtherCA servo home mode, the parameter PRA\_HOME\_SHIFT (0x17) will be mapped to CiA402 object 0x607C Home Offset So this is different from home mode 0 \~ 3. Furthermore, the same home offset 0x607C, there could be also different define of these vendors. Take YASKAWA and PANASONIC for examples as below talbe (2-1). Set these two servo drives EtherCAT home mode (0x6098) 1033( CiA home mode 33 search EZ) and home offset (0x607C) 10000. Before home starting, the actual position (0x6064) of them is in 3000. When finish homing, the he actual position (0x6064) is different. The YASKAWA is the same with CiA402 define, but PANASONIC has it’s own difne as below chart (2-2).
VendorHome offset0x6064 (Before home)0x6064 (Home finish)
YASKAWA10000300013000
PANASONIC10000300010000
(2-1) ·原点位置检出后，此位置作为基准初始化下述的对象(预置)。 PANASONIC 6062h(Position demand value) = 6064h(Position actual value） = 607Ch(Home offset) 6063h(Position actual internal value) = 6OFCh(Position demand internal value) = 0 (2-2) AMP-304C Axis parameter table
AMP-304C axis parameter table
NO.DefineDescriptionValueDefault
00h (0)PRA_EL_LOGICPEL/MEL input logic0 : Not inverse1 : Inverse0
01h (1)PRA_ORG_LOGICORG input logic0 : Active low1 : Active high0
02h (2)PRA_EL_MODEThe mode of stop when end limit(include soft-limit) ON.Deceleration profile is given according to PRA_DEC0 : Deceleration stop1 : Stop immediately0
03h (3)PRA_MDN_CONDIMotion done condition( Affective with motion stats NSTP bit)0 : Control command done (default)1 : Command done with INP0
04h (4)PRA_ALM_LOGICSet ALM Logic0 : Active low1 : Active high0
05h(5)Reserved
06h(6)PRA_EZ_LOGICSet EZ Logic0 : Falling edge1 : Rising edge0
07h(7)Reserved
08hPRA_SPEL_ENSet Encoder event mode. (*3,)0 : Disable1 : Reserved2 : Soft-Limit (SPEL)Note : mode 1 is reserved. If set, return error.0
09h(9)PRA_SMEL_ENSet Encoder event mode. (*3,)0 : Disable1 : Reserved2 : Soft-Limit (SMEL)Note : mode 1 is reserved. If set, return error.0
0Ah(10)PRA_EFB_POS0SPEL / EFB position 0 (*3,)Unit : pulse. (I32 value)(28-bit signed)100,000
0Bh(11)PRA_EFB_POS1SMEL / EFB position 1 (*3,)Unit : pulse. (I32 value)(28-bit signed)-100,000
0Ch(12)Reserved
0Dh(13)Reserved
0Eh(14)Reserved
0Fh(15)Reserved
10h (16)PRA_HOME_MODEHome mode settingHome search - 0( $1^{st}$ mode) to $12(13^{th}$ mode)Home move - 20(1stmode) to 32(13thmode)Note: Home search (6 to 8) is reserved. If set, return error.0
11h (17)PRA_HOME_DIRHoming direction0: positive direction1: negative direction0
12h (18)Reserved
13h (19)Reserved
14h (20)Reserved
15h (21)PRA_HOME_VMHoming maximum velocityUnit: pulse/sec10000
16h (22)Reserved
17h (23)Reserved
18h (24)PRA_HOME_EZASpecify the EZ count up value0000(1stcount) to 1111(16thcount)0
19h (25)PRA_HOME_VOHoming leave home velocity - Specify FA speedUnit: pulse/sec114
1AhPRA_HOME_OFFSETHoming leave home distance - Specify ORG offsetUnit: pulse100
1Bh-1FhReserved
20h (32)PRA_CURVEAcceleration / Deceleration speed pattern0: T-Curve1: S-Curve0
21h (33)PRA_ACCAcceleration rateUnit: pulse/sec $^{2}$ 1000357
22h (34)PRA_DECDeceleration rateUnit: pulse/sec $^{2}$ 1000357
23h (35)PRA_VSStart velocityUnit: pulse/sec114
24h~28hReserved
29hReserved
2Ah ~ 50hReserved
53h(83)PRA_SERVO_LOGICSERVO output logic0: Active low1: Active high0
80h(128)PRA_PLS_IPT_MODEPulse input mode0: A/B X11: A/B X22: A/B X43: CW/CCW0
81h(129)PRA_PLS_OPT_MODEPulse output mode0: OUT/DIR (mode 3)1: OUT/DIR (mode 2)2: OUT/DIR (mode 1)3: OUT/DIR (mode 0)4: CW/CCW (mode 1)5: CW/CCW (mode 0)6: AB (mode 0)7: AB (mode 1)Mode is base on differential signal. Please refer to Pulse output table for details0
84h(132)PRA_EGEARE-Gear factor = Motor Encoder resolution(112h) / Value (*1)Value = 1 ~ Motor Encoder resolution.40,000
112h(274)PRA_M_ENC_RESMotor encoder resolution (*1)Unit: Pulse / rev or Pulse / mm40,000
160h(352)PRA_PSR_IPT_MODESetting of manual pulser input mode from PA and PB pinsipt_mode=0, 1X AB phase type pulse input. ipt_mode=1, 2X AB phase type pulse input. ipt_mode=2, 4X AB phase type pulse input. ipt_mode=3, CW/CCW type pulse input.0
161h(353)Reserved
162h(354)PRA_PSR_IPT_DIRReverse the moving direction from pulse directionInverse =0, no inverse Inverse =1, Reverse moving direction0
163h(355)PRA_PSR_RATIO_VALUEreserved0
164h(356)PRA_PSR_PDVSet manual pulser ratio for actual output pulse rate. The formula for pulser output rate is (1) When PDV = 1~2047, PMG = 0~31 Output Pulse Count = Input Pulser Count x (PMG + 1) x PDV / 2048 (2) When PDV = 0, PMG = 0~31Output Pulse Count = Input Pulser Count x (PMG + 1)PDV = 0~20470
165h(357)PRA_PSR_PMGRefer to description of PRA_PSR_PDVPMG = 0~310
166h(358)PRA_PSR_HOME_TYPESpecified home move typeHomeType =0, Command Origin.(that means axis stops when command counter becomes '0') HomeType =1, Feedback Origin.(that means axis stops when feedback counter becomes '0')0
167h(359)PRA_PSR_HOME_SPDThe maximum speed in pulser home move.Unit: pulse/sec1000
168h~169hReserved
200h(512)PRA_PLS_IPT_LOGICPulse input logic0: don not reverse counting direction 1: reverse counting direction0
201h(513)PRA_FEEDBACK_SRCSelect feedback source0: Ext. Encoder mode Ext. Encoder counter & Absolute mode reference to Encoder counter. 1: Stepper mode Ext. Command counter & Absolute mode reference to Command counter. 2: ACServo mode Ext. Encoder counter & Absolute mode reference to Command counter.0
Reserved
210h(528)PRA_ALM_MODEALM mode setting0: Immediate stop 1: Slow down then stop0
211h(529)PRA_INP_LOGICINP input logic0: Active low 1: Active high0
212h(530)PRA_SD_ENEnable SD. (*2)0 : Disable1 : Enable0
213h(531)PRA_SD_MODESD mode setting0 : Only slow down1 : Slow down and stop0
214h(532)PRA_SD_LOGICSD input logic0 : Active low1 : Active high0
215h(533)PRA_SD_LATCHLatch SD input0 : Disable latch function1 : Enable latch function0
216h(534)PRA_ERC_MODEERC mode setting0 : disable1 : output ERC when stopped by EL, ALM, or EMG input2 : output ERC when complete home return3 : both 1 and 23
217h(535)PRA_ERC_LOGICERC output logic0 : Active low1 : Active high0
218h(536)PRA_ERC_LENPulse width of ERC setting0 : 8 us1 : 67 us2 : 270 us3 : 1 ms4 : 8.6 ms5 : 34 ms6 : 69 ms7 : Level Output (*2)3
219h(537)PRA_RESET_COUNTERReset counter's value to zero when home moving be completed.By bit setting :Bit0 : Reset counter1 (command position)0 : disable1 : enableBit1 : Reset counter2 (mechanical position)0 : disable1 : enableBit2 : Reset counter3 (deflection position)0 : disable1 : enable15
21Ah(538)Reserved
21Bh(539)PRA_PLS_IPT_FLTEA/EB Filter Enable.When a filter is applied, pulse input less than 3 CLK signal cycle long is ignored.0 : Disable1 : Enable1
21Ch(540)Reserved
21Eh(542)PRA_IO_FILTERApply a filter to the PEL, MEL, SD, ORG, ALM, INP inputs. (*6)0 : Don't apply a filter1 : Apply a filter1
21F~220Reserved
221h(545)PRA_COMPENSATION_PULSEA backlash or slip correction amount0 to 40950
222h(546)PRA_COMPENSATION_MODEsuppre or slip mode setting0 : Disable1 : Backlash correction2 : Slip correction0
226h(550)PRA_GCMP_ENGeneral comparator enable & set method0 : DisableOther : Enable1 : data = cmp counter(regardless of counting direction)2 : data=cmp counter(while counting up)3 : data=cmp counter(while counting down)4 : data>cmp counter5 : data00
227h(551)PRA_GCMP_POSGeneral comparator position dataPulse(28-bit signed)0
228h(552)PRA_GCMP_SRCSelect general comparator source0 : Command counter1 : Position counter0
229h(553)PRA_GCMP_ACTIONSelect action whenGCMP are met.0 : Do nothing1: Immediate stop2: Decelerationstop0
22Ah(554)PRA_GCMP_STSCheck if GCMP is met (Read only)0: Not meet1: meet0
22Bh(555)PRA_VIBSUP_RTSupress vibration - Reverse TimeUnit: 1.6 us (16-bit unsigned)0
22C(556)PRA_VIBSUP_FTSupress vibration - Forward TimeUnit: 1.6 us (16-bit unsigned)0
22E~22FReserved
233h(563)PRA_RDY_LOGICRDY input logic0: Active high1: Active low0
236h(566)PRA_RDY_SELRDY input selection0: DI8~111: RDY0~31
237h(567)PRA_INP_SELINP input selection0: DI12~151: INP0~31
238h(568)PRA_SVON_SELSVON output selection0: DO8~111: SVON0~31
239h(569)PRA_ERC_SELERC output selection0: DO12~151: ERC0~31
240h(576)PRA_SPD_LIMITSet Fixed SpeedUnit: pulse/sec6553500
241h(577)PRA_MAX_ACCDECGet max acceleration/deceleration which is limited by fixed speed. (Read only)Unit: pulse/sec $^{2}$ 429153442
242h(578)PRA_MIN_ACCDECGet minimum acceleration/deceleration which is limited by fixed speed. (Read only)Unit: pulse/sec $^{2}$ 13096
250h(592)PRA_CONTI_MODEContinuous Move Mode (*5)0: Disable1: Enable0
251h(593)PRA_CONTI_BUFFContinuous Buffer (Read only)(*5)0: Empty1~3: Buffer0
252h~27FhReserved
280h(640)PRA_ECMP_ENError comparator enable & set method0: Disable, Others Enable.1: comparator position data = Error counter value(regardless of counting direction),2: Reserved3: Reserved4: comparator position data > Error counter value5: comparator position data < Error counter value0
281h(641)PRA_ECMP_POSError comparator absolute position data.Pulse: 0 ~ 327670
283h(643)PRA_ECMP_ACTIONSelect action when ECMP are met.0: Do nothing1: Immediate stop2: Deceleration stop0
284h(644)PRA_ECMP_STSCheck if ECMP is met (Read only)0: Not meet1: meet*If meet,please reset error counter via axis parameterPRA_ERR_COUNTER, then change this meet status to 0 automatically.0
290h(656)PRA_ERR_COUNTERError counter value.Pulse: -32768 ~ 32767(16-bit)0
2A0h(672)PRA_PCS_ENReserved0
2A1h(673)PRA_PCS_LOGICReserved0
2B0h(688)PRA_CNT_SRCCounter source selection for compare, trigger, latch functions.0: select external encoder as counter source1: select internal command as counter source0
\*1： This parameter is used to calculate a move ratio. It is only effective when PRA\_FEEDBACK\_SRC was set to 0 or 2. \*2： The actual pulse width of ERC will be slightly deviation due to external load/voltage. PCIe-8364RS Axis parameter table
PCIe-8364RS axis parameter table
NO.DefineDescriptionValueDefaultType
02h (2)PRA_EL_MODEStop mode when EL turns on. Note : Deceleration profile is given according to PRA_SD_DEC.0 : Deceleration stop1 : Stop immediately0I32
03h (3)PRA_MDM_CONDIMotion done condition (Affective with motion stats NSTP bit)0 : Command done;1 : Command done with INP0I32
07h (7)PRA_SD_DECStop deceleration including EL stop, stop function and multi-stop().Unit : pulse/sec2100000000.0F64
08h (8)PRA_SPEL_ENSoft PEL enable0 : Disable1 : Reserved2 : Soft-Limit (SPEL)0I32
09h (9)PRA_SMEL_ENSoft MEL enable0 : Disable1 : Reserved2 : Soft-Limit (SMEL)0I32
0Ah (10)PRA_SPEL_POSSoft-end-limit for positive end [ F64 ]Unit : pulse100000.0F64
0Bh (11)PRA_SMEL_POSSoft-end-limit for negative end [ F64 ]Unit : pulse-100000.0F64
10h (16)PRA_HOME_MODEHome mode setting*If user uses home mode, please be sure to configure other four parametersPRA_HOME_ACC,PRA_HOME_VM,PRA_HOME_VO,PRA_HOME_SHIFT. Except these four parameters as above, other homeparameters did not matter with the servo home move.0 : home mode 0 (ORG)1 : home mode 1 (EL)0I32
11h (17)PRA_HOME_DIRHoming direction0 : positive direction1 : negative direction0I32
12h (18)PRA_HOME_CURVEHome move acceleration / deceleration speed pattern[ 0.0 ~ 1.0 ]0 : T curve1 : S curve0.5F64
13h (19)PRA_HOME_ACCHome move acceleration / Deceleration rateUnit : pulse/sec210000.0F64
14h (20)PRA_HOME_VSHoming starting velocityUnit : pulse/sec0.0F64
15h (21)PRA_HOME_VMVelocity for searching EL/ORG signal for Home moveUnit : pulse/sec1000.0F64
17h (23)PRA_HOME_SHIFTThe distance shift from EL, ORG signal.Unit : pulse0.0F64
19h (25)PRA_HOME_VOVelocity for moving to final origin positionUnit : pulse/sec200F64
1Bh(27)PRA_HOME_POSUser defined position after homing.Unit : pulse0.0F64
20h (32)PRA_SFmove acceleration / deceleration speed pattern[ 0.0 ~ 1.0 ]0 : T curve1 : S curve0.0F64
21h (33)PRA_ACCAcceleration rateUnit : pulse/sec210000000.0F64
22h (34)PRA_DECDeceleration rateUnit : pulse/sec210000000.0F64
23h (35)PRA_VSStart velocityUnit : pulse/sec0.0F64
24h (36)PRA_VMMaximum velocityUnit : pulse/sec1000.0F64
25h (37)PRA_VEEnd velocityUnit : pulse/sec0.0F64
2Ah (42)PRA_PRE_EVENT_DISTPre-event distanceUnit : pulse0.0F64
2Bh (43)PRA_POST_EVENT_DISTPost-event distanceUnit : pulse0.0F64
40h (64)PRA_JG_MODEJog mode0 : Continuous mode,1 : Step mode0I32
41h (65)PRA_JG_DIRJog move direction0 : Positive direction1 : Negative direction0I32
42h (66)PRA_JG_SFJog move acceleration / deceleration speed pattern0 ~ 10.0F64
43h (67)PRA_JG_ACCJog move accelerationvalue > 02000.0F64
44h (68)PRA_JG_DECJog move decelerationvalue > 02000.0F64
45h (69)PRA_JG_VMJog move max velocityvalue > 01000.0F64
46h (70)PRA_JG_OFFSETJog offset, for step modevalue >= 01000.0F64
47h (71)PRA_JG_DELAYJog delay, for step mode, microsecnod0 ~ 10,000,000 microsecnod500000I32
48h (72)PRA_JG_MAP_DI_EN(Enable Digital input map to jog command signal1 : Enable0 : DisableBit 0 : Active forPRA_JG_P_JOG_DI Bit 1 : Active forPRA_JG_N_JOG_DI Bit 2 : Active forPRA_JG_JOG_DI0I32
49h (73)PRA_JG_P_JOG_DI(I32) Mapping configuration for positive jog and digital input.DI Channel0 ~ 30I32
4Ah (74)PRA_JG_N_JOG_DI(I32) Mapping configuration for negative jog and digital input.DI Channel0 ~ 31I32
4Bh (75)PRA_JG_JOG_DI(I32) Mapping configuration for jog and digital input.DI Channel0 ~ 32I32
51h (81)PRA_SINP_WDWSoft-INP window, unit (pulse count)0 : Disable1~2147483647 : Enable INP window0I32
52h (82)PRA_SINP_STBLSoft-INP stable time, unit (milli-second)[0~10000] ms0I32
61h (97)PRA_GEAR_ENGAGE_RATEGear engage rate unit = 1 / sec, [>= 0.0](*) When cycle time changed, this parameter must be reset.(Cycle time = 1ms )1000.0F64
62h (98)PRA_GEAR_RATIOGear ratio[-10000.0 ~ 10000.0 ]1.0F64
63h (99)PRA_GANTRY_PROTECT_1E-gear gantry mode protection level 1 [ >= 0.0 ] | fbk_master - fbk_slave | >= value, sd-stop motion0.0 : disable gantry error check.>0.0 : Enable gantry error check.0.0F64
64h (100)PRA_GANTRY_PROTECT_2E-gear gantry mode protection level 2 [ >= 0.0 ] | fbk_master - fbk_slave | >= value, both servo-off0.0 : disable gantry error check.>0.0 : Enable gantry error check,0.0F64
65h(101)PRA_EGEAR_MASTERSelect gearing master axisAxisid : Specified a existed axis ID from 0 to 65535 virtual axisid : 0x7fffffff0x7fffffffI32
66h(102)PRA_EGEAR_SOURCESelect gearing master source0 : command position deviation1 : feedback position deviation0I32
86h (134)PRA_POS_UNIT_FACTOR1) The user expected command multiplied by PRA_POS_UNIT_FACTORequals actual command pulse output.2) The actual encoder pulse divided byPRA_POS_UNIT_FACTORequals feedback pulse.1F64
88h (136)PRA_MOVE_RATIOMove ratio1.0F64
90h (144)PRA_KP_GAINSIEMENS PROFIDrive profileDSC mode KP gain(*1)10.0F64
124h (292)PRA_ERR_C_LEVELError counter check level0F64
129h(297)PRA_BKL_DISTTotal distance to compensate backlash0.0F64
12Ah(298)PRA_BKL_CNSPThis value will compensate backlash every cycle until being equal to total distance0.0F64
144h(324)PRA_CMD_PSFCommand Reshaping Path Smooth Factor20~1000: cut-off frequency(rad/sec)0: disable0F64
160h(352)PRA_PSR_IPT_MODEPulser input mode0: 1xAB;1: 2xAB;2: 4xAB3: CW/CCW4: OUT/DIR0I32
161h(353)PRA_PSR_IPT_LOGICPulser EA and EB logic0: EAinv = 0,EBinv = 01: EAinv = 0,EBinv = 12: EAinv = 1,EBinv = 03: EAinv = 1,EBinv = 10I32
162h(354)PRA_PSR_IPT_DIRPulser input direction0: not inverse;1: inverse0I32
163h(355)PRA_PSR_RATIO_VALUEPulser ratioNon zero value1F64
168h(360)PRA_PSR_ACCPulser accelerationUnit : pulse/sec21000000F64
169h(361)PRA_PSR_JERKPulser jerkUnit : pulse/sec310000000 00F64
\*1： Refer to the SIEMENS document for the detailed of DSC mode： https： //support.industry.siemens.com/cs/document/109766462/simatic-s7-1500-s7-1500-s7-1500t-axis-functions-v5- 0-in-tia-portal-v16?dti=0&lc=en-WW Pulse output mode table
ModePositive directionNegative direction
OUT outputDIR outputOUT outputDIR output
OUT/DIR (mode 0)<img src="images/ddefb47b030d4cd7cf941c311468fdbc55b0868d1bf8a7519724e1783c0b45e5.jpg"/>High<img src="images/38fc514e67bbb7f04401239127dd674868617b33c2ebcee0e517c5569760ec8e.jpg"/>Low
OUT/DIR (mode 1)<img src="images/f2990b231dbbb5470b14777cffc00e76e33090517f9cb8ce11c2cdd34e1857c7.jpg"/>High<img src="images/72e46d02c39ebd52a32b7da2aaf7c773587c61460d7736732eef3be6714c6a06.jpg"/>Low
OUT/DIR (mode 2)<img src="images/50a7cfe3ad4f942e425a0ccb5ee6de975ee7f3d0f4890aea245d01e380aed58e.jpg"/>Low<img src="images/1ffe2031a0c9266c746b0106729a57a7682fbc69bb5a5a3759ad0cd877b97941.jpg"/>High
OUT/DIR (mode 3)<img src="images/6bb512b72297d39c1329a5b418ae1f7d63681932308a1f75aafff46db41c3d83.jpg"/>Low<img src="images/7ddd3fd6fae4147fa9c954e1def456697c1ffa8f0db8dafb142ab2e4dde8183e.jpg"/>High
CW/CCW (mode 0)<img src="images/50a7cfe3ad4f942e425a0ccb5ee6de975ee7f3d0f4890aea245d01e380aed58e.jpg"/>High<img src="images/9f32978156d221c3b73ba4127ec03960292e5e3fc068ebcf324eba989e8bd725.jpg"/>
CW/CCW (mode 1)<img src="images/3d73e5d30950b8fd8884c7c3a93a794a47854ff749e9aee8d0de6eefbcb5c231.jpg"/>Low<img src="images/b7a4c695341e40f5805857681da20c65785a384cfa0a9c9eae6baa9af34244f1.jpg"/>
AB (mode 0)<img src="images/d4c21b4b464ef81674bad096f4d5981b74822993292ff59f594ffc6db8be5645.jpg"/><img src="images/20e58e98ec3fa963a00aa7a9bacc83abac32a39fb8b26ce2cd4e6006a58da897.jpg"/>
<img src="images/f0e0bf94cab7bd68c62bcc5416836fded55ec99a77a8f52880539e5b33b112a2.jpg"/><img src="images/43bed171898ca0c32a741ccdb65ac851473457cac7f5eda58abfea3a0b56d2e7.jpg"/>
AB (mode 1)<img src="images/81a36eebc69e84d7b2e7b80c3642920d55d5534eccd050ed3c8fe91201dd92cc.jpg"/><img src="images/f677efe8574c6c5a660be511c01a10bb6f68f4491bb55832d20e39ce63962ba4.jpg"/>
<img src="images/0421a1e16d1224dc8c4f080053c632637bb93dae869d8ddecd01634fc72772b6.jpg"/><img src="images/6bbf68910d804220d36e99e8ebfdad5044138440f384cc9ebabdac7ab230ac69.jpg"/>
\* OUT/DIR ： Common pulse mode \* CW/CW ： 2-pulse mode \* AB ： 90˚ phase difference modes # C. Sampling parameter table Sampling parameter table for PCI-8392(H), PCI-8253/56, MNET-4XMO, PCI-8254/58 / AMP-204/8C, PCIe-833x and PCIe-8364RS
Sampling parameter table
Para NO.DefineDescriptionParameter data value.Default
00hSAMP_PA_RATESampling rate(cycle), (depended on cycle time) For 8392 and 8253/61~65535(times of cycle)1
Sampling rate(ms), (depended on OS Timer) For MNET-4XMO1~51
02hSAMP_PA_EDGEEdge triggered0: Rising edge, 1: fading edge0
03hSAMP_PA_LEVELTriggered level(I32) -2147483648 to 21474836470
05hSAMP_PA_TRIGCHTrigger channel0 ~ 3 (Ch0~Ch3)0
10hSAMP_PA_SRC_CH0Sampling source of Channel 0Refer to sampling source table.(*1, *2)0
11hSAMP_PA_SRC_CH1Sampling source of Channel 1Refer to sampling source table.(*1, *2)0
12hSAMP_PA_SRC_CH2Sampling source of Channel 2Refer to sampling source table.(*1, *2)0
13hSAMP_PA_SRC_CH3Sampling source of Channel 3Refer to sampling source table.(*1, *2)0
(\*1), In PCI-8392, PCI-8253/56 and MNET-4XMO, this parameter must also involve the information of axis id. Four bytes data is needed for this parameter . The first two bytes is the information of including axis id / channel id / Vao id, and the low two bytes is the type of sampling source. EX： Axis id = 150 (96h), choose source is SAMP\_FBK\_POS (01h). Then set parameter value is 0x00960001. (\*2), In PCI-8254/58, AMP-204/8C, PCIe-833x , the parameter must also involve the information of axis id. Two bytes data is needed for this parameter. The first byte is the type of sampling source, and the second byte is the information of including axis id / channel id / Vao id. EX： Axis id = 150 (96h), choose source is SAMP\_FBK\_POS (01h). Then set parameter value is 0x9601. # D. Sampling source table Sampling source table for PCI-8392(H) (\*1) Monitor data is according to monitor data source setting. Please refer to SSCNET servo monitor source table.
PCI-8392(H) sampling source table
SourceSymbol DefineDescriptionValue rangeNote
00hSAMP_COM_POSCommand position (pulse)I32 value
01hSAMP_FBK_POSFeedback position (pulse)I32 value
02hSAMP_CMD_VELCommand velocity (pps)I32 value
03hSAMP_FBK_VELFeedback velocity (pps)I32 value
04hSAMP_MIOmotion IO status (Same as Get motion IO function)I32 value (bit format)
05hSAMP_MSTSMotion status (Same as Get motion status function)I32 value (bit format)
06hSAMP_MSTS_ACCMotion status at acceleration (Command velocity)0: Not at acceleration1: At acceleration
07hSAMP_MSTS_MVMotion status at max velocity (Command velocity)0: Not at max. velocity1: At max. velocity
08hSAMP_MSTS_DECMotion status at deceleration (Command velocity)0: Not at deceleration1: At deceleration
09hSAMP_MSTS_CSTPMotion status command stop (CSTP)0: CSTP status ON1: CSTP status OFF
0AhSAMP_MSTS_NSTPMotion status normal stop (NSTP)0: NSTP status ON1: NSTP status OFF
0BhSAMP_MIO_INPMotion status in position (INP)0: INP status ON1: INP status OFF
0ChSAMP_MIO_ZEROMotion status zero (ZERO)0: ZERO status ON1: ZERO status OFF
0DhSAMP_MIO_ORGMotion status ORG status0: OGR status ON1: OGR status OFF
10hSAMP_SSC_MON_0SSCNET servo monitor 0I32 value(*1)
11hSAMP_SSC_MON_1SSCNET servo monitor 1I32 value(*1)
12hSAMP_SSC_MON_2SSCNET servo monitor 2I32 value(*1)
13hSAMP_SSC_MON_3SSCNET servo monitor 3I32 value(*1)
20hReserved
21hSAMP_GTY_DEVIATIONGantry deviation between master and slave encoder raw dataI32 value
22hReserved
23hSAMP_ERROR_COUNTERError counter dataI32 value
PCI-8253/56 sampling source table
PCI-8253/56 sampling source table
SourceSymbol DefineDescriptionValue rangeNote
00hSAMP_COM_POSCommand position (pulse)I32 value
01hSAMP_FBK_POSFeedback position (pulse)I32 value
02hSAMP_CMD_VELCommand velocity (pps)I32 value
03hSAMP_FBK_VELFeedback velocity (pps)I32 value
04hSAMP_MIOmotion IO status (Same as Get motion IO function)I32 value (bit format)
05hSAMP_MSTSMotion status (Same as Get motion status function)I32 value (bit format)
06hSAMP_MSTS_ACCMotion status at acceleration (Command velocity)0: Not at acceleration1: At acceleration
07hSAMP_MSTS_MVMotion status at max velocity (Command velocity)0: Not at max. velocity1: At max. velocity
08hSAMP_MSTS_DECMotion status at deceleration (Command velocity)0: Not at deceleration1: At deceleration
09hSAMP_MSTS_CSTPMotion status command stop (CSTP)0: CSTP status ON1: CSTP status OFF
0AhSAMP_MSTS_NSTPMotion status normal stop (NSTP)0: NSTP status ON1: NSTP status OFF
0BhSAMP_MIO_INPMotion status in position (INP)0: INP status ON1: INP status OFF
0ChSAMP_MIO_ZEROMotion status zero (ZERO)0: ZERO status ON1: ZERO status OFF
0DhSAMP_MIO_ORGMotion status ORG status0: OGR status ON1: OGR status OFF
20hSAMP_CONTROL_VOLControl voltageI32 value
21hSAMP_GTY_DEVIATIONGantry deviation between master and slave encoder raw dataI32 value
22hSAMP_ENCODER_RAWEncoder raw dataI32 value
23hSAMP_ERROR_COUNTERError counter dataI32 value
MNET-4XMO sampling source table
MNET-4XMO sampling source table
SourceSymbol DefineDescriptionValue rangeNote
00hSAMP_COM_POSCommand position (pulse)I32 value
01hSAMP_FBK_POSFeedback position (pulse)I32 value
02hSAMP_CMD_VELCommand velocity (pps)I32 value
PCI-8254/58 / AMP-204/8C sampling source table
PCI-8254/58 / AMP-204/8C sampling source table
SourceSymbol DefineDescriptionValue rangetypeReferred id
0x00SAMP_COM_POScommand positionI32 valueI32Axis id
0x01SAMP_FBK_POSfeedback positionI32 valueI32Axis id
0x02SAMP_CMD_VELcommand velocityI32 valueI32Axis id
0x03SAMP_FBK_VELfeedback velocityI32 valueI32Axis id
0x04SAMP_MIOmotion IOI32 value (bit format)I32Axis id
0x05SAMP_MSTSmotion statusI32 value (bit format)I32Axis id
0x06SAMP_MSTS_ACCmotion status acc0 : Not at acceleration1 : At accelerationI32Axis id
0x07SAMP_MSTS_MVmotion status at max velocity0 : Not at max. velocity1 : At max. velocityI32Axis id
0x08SAMP_MSTS_DECmotion status at dec0 : Not at deceleration1 : At decelerationI32Axis id
0x09SAMP_MSTS_CSTPmotion status CSTP0 : CSTP status ON1 : CSTP status OFFI32Axis id
0x0ASAMP_MSTS_MDNmotion status MDN0 : NSTP status ON1 : NSTP status OFFI32Axis id
0x0BSAMP_MIO_INPmotion status INP0 : INP status ON1 : INP status OFFI32Axis id
0x0DSAMP_MIO_ORGmotion status OGR0 : OGR status ON1 : OGRstatus OFFI32Axis id
0x20SAMP_CONTROL_VO LControl command voltageI32 valueI32Axis id
0x21SAMP_GTY_DEVIATIO NGantry deviationI32 valueI32Axis id
0x22SAMP_ENCODER_RAWEncoder raw dataI32 valueI32Axis id
0x23SAMP_ERROR_POSError positionI32 valueI32Axis id
0x24SAMP_PTBUFF_RUN_INDEXPoint table running indexI32 valueI32Table id 0~1
0x10SAMP_COM_POS_F6 4Command positionF64 valueF64Axis id
0x11SAMP_FBK_POS_F64Feedback positionF64 valueF64Axis id
0x12SAMP_CMD_VEL_F64Command velocityF64 valueF64Axis id
0x13SAMP_FBK_VEL_F64Feedback velocityF64 valueF64Axis id
0x14SAMP_CONTROL_VO L_F64Control command voltageF64 valueF64Axis id
0x15SAMP_ERR_POS_F64Error positionF64 valueF64Axis id
0x18SAMP_PWM_FREQUE NCY_F64PWM frequency (Hz)F64 valueF64PWM CH id
0x19SAMP_PWM_DUTY_C YCLE_F64PWM duty cycle (%)F64 valueF64PWM CH id
0x1ASAMP_PWM_WIDTH_F64PWM width (ns)F64 valueF64PWM CH id
0x1BSAMP_VAO_COMP_V EL_F64Composed velocity for Laser power control (pps)F64 valueF64VAO id
0x1CSAMP_PTBUFF_COM P_VEL_F64Composed velocity of point tableF64 valueF64Table id 0~1
0x1DSAMP_PTBUFF_COM P_ACC_F64Composed acceleration of point tableF64 valueF64Table id 0~1
PCIe-833x sampling source table
PCIe-833x and PCIe-8364RS sampling source table
SourceSymbol DefineDescriptionValue rangetypeReferred id
0x00SAMP_COM_POScommand positionI32 valueI32Axis id
0x01SAMP_FBK_POSfeedback positionI32 valueI32Axis id
0x02SAMP_CMD_VELcommand velocityI32 valueI32Axis id
0x03SAMP_FBK_VELfeedback velocityI32 valueI32Axis id
0x04SAMP_MIOmotion IOI32 value (bit format)I32Axis id
0x05SAMP_MSTSmotion statusI32 value (bit format)I32Axis id
0x06SAMP_MSTS_ACCmotion status acc0 : Not at acceleration1 : At accelerationI32Axis id
0x07SAMP_MSTS_MVmotion status at max velocity0 : Not at max. velocity1 : At max. velocityI32Axis id
0x08SAMP_MSTS_DECmotion status at dec0 : Not at deceleration1 : At decelerationI32Axis id
0x09SAMP_MSTS_CSTPmotion status CSTP0 : CSTP status ON1 : CSTP status OFFI32Axis id
0x0ASAMP_MSTS_MDNmotion status MDN0 : NSTP status ON1 : NSTP status OFFI32Axis id
0x0BSAMP_MIO_INPmotion status INP0 : INP status ON1 : INP status OFFI32Axis id
0x0DSAMP_MIO_ORGmotion status OGR0: OGR status ON1: OGR status OFFI32Axis id
0x21SAMP_GTY_DEVIATIONGantry deviationI32 valueI32Axis id
0x22SAMP_ENCODER_RAWEncoder raw dataI32 valueI32Axis id
0x23SAMP_ERROR_POSError positionI32 valueI32Axis id
0x24SAMP_PTBUFF_RUN_INDEXPoint table running indexI32 valueI32Table id 0~1
0x25SAMP_CMD_TRQCommand torque in CST modeI16 valueI16Axis id
0x26SAMP_FBK_TRQActual torqueI16 valueI16Axis id
0x10SAMP_COM_POS_F64Command positionF64 valueF64Axis id
0x11SAMP_FBK_POS_F64Feedback positionF64 valueF64Axis id
0x12SAMP_CMD_VEL_F64Command velocityF64 valueF64Axis id
0x13SAMP_FBK_VEL_F64Feedback velocityF64 valueF64Axis id
0x15SAMP_ERR_POS_F64Error positionF64 valueF64Axis id
0x1CSAMP_PTBUFF_COMP_VEL_F64Composed velocity of point tableF64 valueF64Table id 0~1
0x1DSAMP_PTBUFF_COMP_ACC_F64Composed acceleration of point tableF64 valueF64Table id 0~1
ECAT-4XMO/ECAT-4XMO-MT and PCIe-8364RS sampling source table
ECAT-4XMO/ECAT-4XMO-MT and PCIe-8364RS sampling source table
SourceSymbol DefineDescriptionValue rangetypeReferred id
0x00SAMP_COM_POScommand positionI32 valueI32Axis id
0x01SAMP_FBK_POSfeedback positionI32 valueI32Axis id
0x02SAMP_CMD_VELcommand velocityI32 valueI32Axis id
0x03SAMP_FBK_VELfeedback velocityI32 valueI32Axis id
0x04SAMP_MIOmotion IOI32 value (bit format)I32Axis id
0x05SAMP_MSTSmotion statusI32 value (bit format)I32Axis id
0x06SAMP_MSTS_ACCmotion status acc0 : Not at acceleration1 : At accelerationI32Axis id
0x07SAMP_MSTS_MVmotion status at max velocity0 : Not at max. velocity1 : At max. velocityI32Axis id
0x08SAMP_MSTS_DECmotion status at dec0 : Not at deceleration1 : At decelerationI32Axis id
0x09SAMP_MSTS_CSTPmotion status CSTP0 : CSTP status ON1 : CSTP status OFFI32Axis id
0x0ASAMP_MSTS_MDNmotion status MDN0 : NSTP status ON1 : NSTP status OFFI32Axis id
0x0BSAMP_MIO_INPmotion status INP0 : INP status ON1 : INP status OFFI32Axis id
0x0DSAMP_MIO_ORGmotion status OGR0 : OGR status ON1 : OGR status OFFI32Axis id
0x21SAMP_GTY_DEVIATIONGantry deviationI32 valueI32Axis id
0x22SAMP_ENCODER_RAWEncoder raw dataI32 valueI32Axis id
0x23SAMP_ERROR_POSError positionI32 valueI32Axis id
0x24SAMP_PTBUFF_RUN_INDEXPoint table running indexI32 valueI32Table id 0~1
0x10SAMP_COM_POS_F64Command positionF64 valueF64Axis id
0x11SAMP_FBK_POS_F64Feedback positionF64 valueF64Axis id
0x12SAMP_CMD_VEL_F64Command velocityF64 valueF64Axis id
0x13SAMP_FBK_VEL_F64Feedback velocityF64 valueF64Axis id
0x15SAMP_ERR_POS_F64Error positionF64 valueF64Axis id
0x1CSAMP_PTBUFF_COMP_VEL_F64Composed velocity of point tableF64 valueF64Table id 0~1
0x1DSAMP_PTBUFF_COMP_ACC_F64Composed acceleration of point tableF64 valueF64Table id 0~1
# E. Motion IO status and motion status definitions PCI-8392(H) motion IO status table
PCI-8392(H) motion IO status table
Bit No76543210
SVONINPEZEMGORGMELPELALM
Bit No15141312111098
ABSLTLCSMELSPELZSPWARNRDY
PCI-8253/56 motion IO status table
PCI-8253/56 motion IO status table
Bit No76543210
SVONINPEZEMGORGMELPELALM
Bit No15141312111098
SMELSPELZSPWARNRDY
MNET-4XMO-(C)/1XMO,HSL-4XMO,PCI(e)-8154/8158, PCI-8102/PCI-C154(+), AMP-304C motion IO status table
MNET-4XMO-(C)/1MXO, HSL-4XMO motion IO status table
Bit No76543210
SVONINPEZEMGORGMELPELALM
Bit No15141312111098
RDY
PCI-8144 & AMP-104C motion IO status table
PCI-8144 & AMP-104C motion IO status table
Bit No76543210
------EMG(STP)ORGMELPEL--
Bit No15141312111098
STA--------------
Bit No2322212019181716
------------MSDPSD
Motion IO status description table
Motion IO status description table
BitDefineDescription
0ALMServo alarm
1PELPlus end limit
2MELMinus end limit
3ORGOriginal position sensor( home sensor )
4EMGEMG sensor
5EZEZ passed
6INPIn position
7SVONServo ON
8RDYReady
9WARNWarning
10ZSPZero speed, The zero speed output range setting, please refer to the manual of servo driver.
11SPELSoftware plus end limit
12SMELSoftware minus end limit
13TLCTorque is limited by torque limit value. (When torque control is turned ON )
14ABSLAbsolute position lost
15STAExternal start signal
16PSDPositive slow down signal input
17MSDNegative slow down signal input
EMX-100 motion IO status table
EMX-100 motion IO status table
Bit No76543210
SVONINPEZEMGORGMELPELALM
Bit No15141312111098
--------------RDY
Bit No2322212019181716
----------------
Bit No3130292827262524
----------------
EMX-100 Motion IO status description table
Motion IO status description table
BitDefineDescription
0ALMServo alarm
1PELPlus end limit
2MELMinus end limit
3ORGOriginal position sensor( home sensor )
4EMGEMG sensor
5EZEZ passed
6INPIn position
7SVONServo ON
8RDYServo Ready
25~31ReservedReserved, always be 0
PCI-8254/58 / AMP-204/8C motion IO status table
PCI-8254/58 motion IO status table
Bit No76543210
SVONINPEZEMGORGMELPELALM
Bit No15141312111098
SMELSPELSCL
PCI-8254/58 / AMP-204/8C Motion IO status description table
Motion IO status description table
BitDefineDescription
0ALMServo alarm
1PELPlus end limit
2MELMinus end limit
3ORGOriginal position sensor( home sensor )
4EMGEMG sensor
5EZEZ passed
6INPIn position
7SVONServo ON
8~9ReservedReserved, always be 0
10SCLSoftware circular limit
11SPELSoftware plus end limit
12SMELSoftware minus end limit
13~ReservedReserved, always be 0
PCIe-833x motion IO status table
PCIe-833x motion IO status table
Bit No76543210
SVONINPEZEMGORGMELPELALM
Bit No15141312111098
SMELSPELSCLRDY
Bit No2322212019181716
Bit No3130292827262524
OP
PCIe-833x Motion IO status description table
Motion IO status description table
BitDefineDescription
0ALMServo alarm
1PELPlus end limit
2MELMinus end limit
3ORGOriginal position sensor( home sensor )
4EMGEMG sensor
5EZEZ passed
6INPIn position
7SVONServo ON
8RDYReady
9ReservedReserved, always be 0
10SCLSoftware circular limit
11SPELSoftware plus end limit
12SMELSoftware minus end limit
13~23ReservedReserved, always be 0
24OP0 : EtherCAT slave is offline1 : EtherCAT slave is online
25~31ReservedReserved, always be 0
PCIe-8364RS motion IO status table
PCIe-8364RS motion IO status table
Bit No76543210
SVONINPEMGORGMELPELALM
Bit No15141312111098
SMELSPELSCL
Bit No2322212019181716
Bit No3130292827262524
OP
PCIe-8364RS Motion IO status description table
Motion IO status description table
BitDefineDescription
0ALMServo alarm coming from the Status Word 1 (ZSW1) bit 3 of telegram
1PELPlus end limit
2MELMinus end limit
3ORGOriginal position sensor( home sensor )
4EMGEMG sensor
5ReservedReserved, always be 0
6INPIn position. Note : Only support Soft-INP. Please refer to PRA_SINP_WDW and PRA_SINP_STBL.
7SVON0 : Servo OFF status since the state of PROFIDrive state machine is not on S4 Opeartion state1 : Servo ON status since the state of PROFIDrive state machine is on S4 Opeartion state
8ReservedReserved, always be 0
9ReservedReserved, always be 0
10SCLSoftware circular limit
11SPELSoftware plus end limit
12SMELSoftware minus end limit
13~23ReservedReserved, always be 0
24OP0 : slave is offline1 : slave is online
25~31ReservedReserved, always be 0
# F. Motion status definition table PCI-8392(H), 8253/56 Motion status definition table
Motion status definition table
BitNo76543210
SMVHMVNSTPDIRDECACCVMCSTP
BitNo15141312111098
JOGSLVPPSPDWPMVVSCIPLIP
BitNo2322212019181716
ECESMELSPELSWANSALMSEMGSSVONSASTP
BitNo3130292827262524
----PAPBGTMGDCESSTPOASMELSSPELS
MNET-4XMO-(C), HSL-4XMO, PCI(e)-8154/8158, PCI-8102 /PCI-C154(+), AMP- 304C Motion status definition table
Motion status definition table
BitNo76543210
SMVHMVNSTP--DECACCVMCSTP
BitNo15141312111098
----------VSCIPLIP
BitNo2322212019181716
--MELSPELS--ALMSEMGS--ASTP
BitNo3130292827262524
----PAPB(PCI-C154+only)------SMELSSPELS
1XMO Motion status definition table
Motion status definition table
BitNo76543210
SMVHMVNSTP--DECACCVMCSTP
BitNo15141312111098
----------VS----
BitNo2322212019181716
--MELSPELS--ALMSEMGS--ASTP
BitNo3130292827262524
------------SMELSSPELS
PCI-8144 & AMP-104C Motion status definition table
Motion status definition table
BitNo76543210
--HMV--DIRDECACC--CSTP
BitNo15141312111098
----------------
BitNo2322212019181716
----------------
BitNo3130292827262524
----------------
Motion Status Description Table
Motion Status Description Table
BitDefineDescription
0CSTPCommand stopped
1VMAt maximum velocity
2ACCAt acceleration
3DECAt deceleration
4DIRMove direction. 1 : Positive direction, 0 : Negative direction
5NSTPNormal stop(Motion done)
6HMVIn homing
7SMVSingle axis move( relative, absolute, velocity move)
8LIPLinear interpolation
9CIPCircular interpolation
10VSAt start velocity
11PMVPoint table move
12PDWPoint table dwell move
13PPSPoint table pause state
14SLVSlave axis move
15JOGJog move
16ASTPAbnormal stop
17SVONSServo off stopped
18EMGSEMG / SEMG stopped
19ALMSAlarm stop
20WANSWarn stopped
21PELSPEL stopped
22MELSMEL stopped
23ECESError counter check level reaches and stopped
24SPELSSPEL stopped
25SMELSSMEL stopped
26STPOAStop by others axes
27GDCESGantry deviation error level reaches and stopped
28GTMGantry mode
29PAPBWait for PA/PB Input
30--Reserved
EMX-100 Motion status definition table
Motion status definition table
BitNo76543210
----MDN----------
BitNo15141312111098
----------------
BitNo2322212019181716
--MELSPELS--ALMSEMGS----
BitNo3130292827262524
--ORGSHMESEZS----SMELSSPELS
EMX-100 Motion Status Description Table
Motion Status Description Table
BitDefineDescription
...ReservedReserved, always be 0
5MDNMotion is stopped; 0: In motion, 1: motion done ( It could be abnormal stop)
...ReservedReserved, always be 0
18EMGSEMG stopped
19ALMSAlarm stop
...ReservedReserved, always be 0
21PELSPEL stopped
22MELSMEL stopped
...ReservedReserved, always be 0
24SPELSSPEL stopped
25SMELSSMEL stopped
...ReservedReserved, always be 0
28EZSEZ stopped
29HMESHome error stopped. If PRA_HOME_EZA enables with HOME_VO velocity before searching EZ signal the EZ signal already triggered.
30ORGSORG stopped
PCI-8254/58 / AMP-204/8C Motion status definition table
Motion status definition table
BitNo76543210
--HMVMDNDIRDECACCVMCSTP
BitNo15141312111098
JOG------PTBWAIT----
BitNo2322212019181716
--------POSTDPREDBLDASTP
BitNo3130292827262524
------GERBACKLASH------
PCI-8254/58 / AMP-204/8C Motion Status Description Table
Motion Status Description Table
BitDefineDescription
0CSTPCommand stopped (But it could be in motion)
1VMIn maximum velocity
2ACCIn acceleration
3DECIn deceleration
4DIRMove direction. 1 : Positive direction, 0 : Negative direction
5MDNMotion done. 0 : In motion, 1 : Motion done ( It could be abnormal stop)
6HMVIn homing
...ReservedReserved, always be 0
10WAITAxis is in waiting state. ( Wait move trigger )
11PTBAxis is in point buffer moving. ( When this bit on, MDN and ASTP will be cleared )
...ReservedReserved, always be 0
15JOGIn jogging
16ASTP0 : Stop normally, 1 : abnormal stop, When axis in motion, this bit will be clear.
17BLDAxis (Axes) in blending moving
18PREDPre-distance event, 1 : event arrived. The event will be clear when axis start moving
19POSTDPost-distance event. 1 : event arrived. The event will be clear when axis start moving
...ReservedReserved, always be 0
27BACKLASH0 : In operation; 1 : IDLE
28GER1 : In geared ( This axis as slave axis and it follow a master specified in axis parameter.)
29-31ReservedReserved, always be 0
PCIe-833x Motion status definition table
Motion status definition table
BitNo76543210
TMHMVMDNDIRDECACCVMCSTP
BitNo15141312111098
JOG------PTBWAIT----
BitNo2322212019181716
ASYNCERR------POSTDPREDBLDASTP
BitNo3130292827262524
--GRYPSRGERBACKLASH------
Note PCIe-833x Motion Status Description Table (1)： IF user uses EtherCAT home mode, the motion status is avaliabe for MDN, HMV and ASTP.
Motion Status Description Table
BitDefineDescription
0CSTPCommand stopped (But it could be in motion)
1VMIn maximum velocity
2ACCIn acceleration
3DECIn deceleration
4DIRMove direction. 1 : Positive direction, 0 : Negative direction
5MDNMotion done. 0 : In motion, 1 : Motion done ( It could be abnormal stop)
6HMVIn homing
7TMIn maximum torque ( See Note (3) )
...ReservedReserved, always be 0
10WAITAxis is in waiting state. ( Wait move trigger )
11PTBAxis is in point buffer moving. ( When this bit on, MDN and ASTP will be cleared )
...ReservedReserved, always be 0
15JOGIn jogging
16ASTP0 : Stop normally, 1 : abnormal stop, When axis in motion, this bit will be clear.
17BLDAxis (Axes) in blending moving (Only for interpolation move usage)
18PREDPre-distance event, 1 : event arrived. The event will be clear when axis start moving
19POSTDPost-distance event. 1: event arrived. The event will be clear when axis start moving
...ReservedReserved, always be 0
23ASYNCERRChecking the result of asynchronous move API execution. ( See Note (4) )0: The result of last asynchronous move API execution is successful.1: The result of last asynchronous move API execution is failed.
27BACKLASH0: In operation; 1: IDLE
28GER1: In geared ( This axis as slave axis and it follow a master specified in axis parameter.)
29PSRPulser function status. 0: Disable, 1: Enable
30GRY1: When gantry mode is enabled, this axis is master and his motion status bit 30 (GRY) will be turned on.0: When gantry mode is disable, turning this axis's motion status bit 30 (GRY) off will depends on his other slaves are in gantry mode or not.
(2)： IF user uses EtherCAT home mode and error happened with process, the ASTP bit will be on. (3)： The bit will be activated when operation mode is in “CST” mode. Please refer to APS\_set\_command\_control\_mode API description for more details. (4)： The bit will be activated when using APS\_motion\_status\_async API to get status. Get the execution error code by using APS\_get\_last\_error API when the bit status is 1. PCIe-8364RS Motion status definition table
Motion status definition table
BitNo76543210
HMVMDNDIRDECACCVMCSTP
BitNo15141312111098
JOG------PTBWAIT----
BitNo2322212019181716
--------POSTDPREDBLDASTP
BitNo3130292827262524
--GRYPSRGERBACKLASH------
PCIe-8364RS Motion Status Description Table
Motion Status Description Table
BitDefineDescription
0CSTPCommand stopped (But it could be in motion)
1VMIn maximum velocity
2ACCIn acceleration
3DECIn deceleration
4DIRMove direction. 1 : Positive direction, 0 : Negative direction
5MDNMotion done. 0 : In motion, 1 : Motion done ( It could be abnormal stop)
6HMVIn homing
...ReservedReserved, always be 0
10WAITAxis is in waiting state. ( Wait move trigger )
11PTBAxis is in point buffer moving. ( When this bit on, MDN and ASTP will be cleared )
...ReservedReserved, always be 0
15JOGIn jogging
16ASTP0 : Stop normally, 1 : abnormal stop, When axis in motion, this bit will be clear.
17BLDAxis (Axes) in blending moving (Only for interpolation move usage)
18PREDPre-distance event, 1 : event arrived. The event will be clear when axis start moving
19POSTDPost-distance event. 1 : event arrived. The event will be clear when axis start moving
...ReservedReserved, always be 0
27BACKLASH0 : In operation; 1 : IDLE
28GER1 : In geared ( This axis as slave axis and it follow a master specified in axis parameter.)
29PSRPulser function status. 0 : Disable, 1 : Enable
30GRY1 : When gantry mode is enabled, this axis is master and his motion status bit 30 (GRY) will be turned on.0 : When gantry mode is disable, turning this axis's motion status bit 30 (GRY) off will depends on his other slaves are in gantry mode or not.
# G. Interrupt factor table PCI-8392(H) Interrupt Item Definition Table
PCI-8392(H) Interrupt Item Definition Table
ItemDescription
0Axis 0 interrupt factors
1Axis 1 interrupt factors
......
15Axis 15 interrupt factors
16System interrupt factors
PCl-8392(H) Axes interrupt factors definition of Item 0\~15
PCI-8392(H) Axes interrupt factors definition of Item 0~15
BitNo76543210
IZEROIWARNIINPIEZIORGIMELIPELIALM
BitNo15141312111098
ISPELITLCIASTPINSTPIDECIACCIVMICSTP
BitNo2322212019181716
--------------ISMEL
BitNo3130292827262524
---------------
PCl-8392(H) Axes interrupt factors description table
PCI-8392(H) Axes interrupt factors description
NO.DefineInterrupt condition descriptionNote
0IALMServo alarm signal turn ON
1IPELPlus end limit switch is turn ON
2IMELMinus (Negative) end limit switch turn ON
3IORGHome switch turn ON
4IEZ / IEZPEZ passed signal turn ON(1)
5IINPIn position signal turn ON
6IWARNServo warning ON
7IZSPZero speed
8ICSTPCommand stop(2)
9IVMIn maximum velocity
10IACCIn acceleration
11IDECIn deceleration
12INSTPNormal stop(Motion done)(2)
13IASTPAbnormal stop
14ITLCTorque limit control is turn ON
15ISPELSPEL turn ON
16ISMELSMEL turn ON
17~Reserved
(1), In SSCNET system, When zero position signal(EZ) from servo driver is ON, EZP bit will ON even if EZ is turn OFF. (2), INSTP： Axis is stopped normally. If axis is stopped abnormally such as emergency stop and Limit switch on stop etc, this interrupt factor will not be triggered. All motion action including home move which can be waited motion done by this interrupt factor. Users can set normal stop (motion done) condition by set axis parameter function. CSTP： Motion command is stopped, but the axis could be still in motion. PCl-8392(H) System interrupt factors definition of item 16
PCI-8392(H) System interrupt factors definition of item 16
BitNo76543210
ILNK
BitNo15141312111098
BitNo2322212019181716
BitNo3130292827262524
PCI-8392(H) System interrupt factors description table
PCI-8392(H) System interrupt factors description
NO.DefineInterrupt condition descriptionNote
0ILNKWhen SSCNET Link status 1->0
PCI-8253/56 Interrupt Item Definition Table
PCI-8253/56 Interrupt Item Definition Table
ItemDescription
0Axis 0 interrupt factors
1Axis 1 interrupt factors
......
5Axis 5 interrupt factors
PCl-8253/56 Axes interrupt factors definition of Item 0\~5
PCI-8253/56 Axes interrupt factors definition of Item 0~5
BitNo76543210
IZEROIWARNIINPIEZIORGIMELIPELIALM
BitNo15141312111098
ISPELITLCIASTPINSTPIDECIACCIVMICSTP
BitNo2322212019181716
--------------ISMEL
BitNo3130292827262524
---------------
PCl-8253/56 Axes interrupt factors description table
PCI-8253/56 Axes interrupt factors description table
NO.DefineInterrupt condition descriptionNote
0IALMServo alarm signal turn ON
1IPELPlus end limit switch is turn ON
2IMELMinus (Negative) end limit switch turn ON
3IORGHome switch turn ON
4IEZEZ signal turn ON
5IINPIn position signal turn ON
6IWARNServo warning ON
7IZSPZero speed
8ICSTPCommand stop(1)
9IVMIn maximum velocity
10IACCIn acceleration
11IDECIn deceleration
12INSTPNormal stop(Motion done)(1)
13IASTPAbnormal stop
14ITLCTorque limit control is turn ON
15ISPELSPEL turn ON
16ISMELSMEL turn ON
17~Reserved
(1), INSTP： Axis is stopped normally. If axis is stopped abnormally such as emergency stop and Limit switch on stop etc, this interrupt factor will not be triggered. All motion action including home move which can be waited motion done by this interrupt factor. Users can set normal stop (motion done) condition by set axis parameter function. CSTP： Motion command is stopped, but the axis could be still in motion. # DPAC-1000 Interrupt Item Definition Table DPAC-1000 Interrupt factor Item definition table
Interrupt factor Item definition table
ItemDescription
0CPLD Interrupt
DPAC-1000 CPLD Interrupt factor definition of Item 0
DPAC-1000 CPLD Interrupt factor definition of Item 0
BitNo76543210
--------------Timer
BitNo15141312111098
----------------
BitNo2322212019181716
----------------
BitNo3130292827262524
----------------
# DPAC-3000 Interrupt Item Definition Table DPAC-30o0 Interrupt factor Item definition table
Interrupt factor Item definition table
ItemDescription
0CPLD Interrupt
1HSL Interrupt
DPAC-3000 CPLD Interrupt factor definition of Item 0
DPAC-3000 CPLD Interrupt factor definition of Item 0
BitNo76543210
--------------Timer
BitNo15141312111098
----------------
BitNo2322212019181716
----------------
BitNo3130292827262524
----------------
DPAC-3000 HSL Interrupt factor definition of Item 1
DPAC-3000 HSL Interrupt factor definition of Item 1
BitNo76543210
--------------DI
BitNo15141312111098
----------------
2322212019181716
------------------
3130292827262524
----------------
# PCI(e)-7856 Interrupt Item Definition Table PC(e)-7856 Interrupt factor Item definition table
Interrupt factor Item definition table
ItemDescription
0CPLD / FPGA Interrupt
※ PCI-7856 using CPLD interface, PCIe-7856 using FPGA interface. PCI(e)-7856 CPLD / FPGA Interrupt factor definition of Item 0
PCI(e)-7856 CPLD / FPGA Interrupt factor definition of Item 0
BitNo76543210
--------------Timer
BitNo15141312111098
----------------
BitNo2322212019181716
----------------
BitNo3130292827262524
----------------
# PCI-8144 Interrupt Item Definition Table PCl-8144 Interrupt factor Item definition table
PCI-8144Interrupt factor Item definition table
ItemDescription
0Axis0 Motion interrupt
1Axis1 Motion interrupt
2Axis2 Motion interrupt
3Axis3 Motion interrupt
4Digital input interrupt (Falling edge)
5Digital input interrupt (Rising edge)
PCl-8144 Axes interrupt factors definition of Item 0\~3
PCI-8144 Axes interrupt factors definition of Item 0~3
BitNo76543210
--------------ICSTP
PCl-8144 Axes interrupt factors description table
PCI-8144 Axes interrupt factors description table
NO.DefineInterrupt condition descriptionNote
0ICSTPMotion command output stop interrupt C
PCl-8144 Digital interrupt factors definition of item 4
PCI-8144 System interrupt factors definition of item
BitNo76543210
DI7_FDI6_FDI5_FDI4_FDI3_FDI2_FDI1_FDI0_F
PCl-8144 Digital interrupt factors item 4 description table
PCI-8144 System interrupt factors description
NO.DefineInterrupt condition descriptionNote
0Din_FDigital input Channl NO.n falling edge interrupt
PCl-8144 Digital interrupt factors definition of item 5
PCI-8144 System interrupt factors definition of item 16
BitNo76543210
DI7_RDI6_RDI5_RDI4_rDI3_RDI2_RDI1_RDI0_R
PCl-8144 Digital interrupt factors item 5 description table
PCI-8144 System interrupt factors description
NO.DefineInterrupt condition descriptionNote
0Din_RDigital input Channl NO.n Rising edge interrupt
# AMP-104C Interrupt Item Definition Table AMP-104C Interrupt factor Item definition
AMP-104C Interrupt factor Item definition table
ItemDescription
0Axis0 Motion interrupt
1Axis1 Motion interrupt
2Axis2 Motion interrupt
3Axis3 Motion interrupt
4Digital input interrupt channel 0 ~ 7 (Falling edge)
5Digital input interrupt channel 0 ~ 7 (Rising edge)
6Digital input interrupt channel 8 ~ 15 (Falling edge)
7Digital input interrupt channel 8 ~ 15 (Rising edge)
8TTL Digital input interrupt channel 0 ~ 3 (Falling edge)
9TTL Digital input interrupt channel 0 ~ 3 (Rising edge)
AMP-104C Axes interrupt factors definition of Item 0\~3
AMP-104C Axes interrupt factors definition of Item 0~3
BitNo76543210
--------------ICSTP
AMP-104C Axes interrupt factors description table
AMP-104C Axes interrupt factors description table
NO.DefineInterrupt condition descriptionNote
0ICSTPMotion command output stop interrupt C
AMP-104C Digital interrupt channel 0 \~ 7 factors definition of item 4
AMP-104C System interrupt factors definition of item 4
BitNo76543210
DI7_FDI6_FDI5_FDI4_FDI3_FDI2_FDI1_FDI0_F
AMP-104C Digital interrupt channel 0\~ 7 factors item 4 description table
AMP-104C System interrupt factors description
NO.DefineInterrupt condition descriptionNote
0DIn_FDigital input Channl NO.n falling edge interrupt
AMP-104C Digital interrupt channel 0\~ 7 factors definition of item 5
AMP-104C System interrupt factors definition of item 5
BitNo76543210
DI7_RDI6_RDI5_RDI4_RDI3_RDI2_RDI1_RDI0_R
AMP-104C Digital interrupt factors item 5 description table
AMP-104C System interrupt factors description
NO.DefineInterrupt condition descriptionNote
0DIn_RDigital input Channl NO.n Rising edge interrupt
AMP-104C Digital interrupt channel 8 \~15 factors definition of item 6
AMP-104C System interrupt factors definition of item 6
BitNo76543210
DI15_FDI14_FDI13_FDI12_FDI11_FDI10_FDI9_FDI8_F
AMP-104C Digital interrupt channel 8\~15 factors item 6 description table
AMP-104C System interrupt factors description
NO.DefineInterrupt condition descriptionNote
0DIn_FDigital input Channl NO.n falling edge interrupt
AMP-104C Digital interrupt channel 8\~15 factors definition of item 7
AMP-104C System interrupt factors definition of item 7
BitNo76543210
DI15_RDI14_RDI13_RDI12_RDI11_RDI10_RDI9_RDI8_R
AMP-104C Digital interrupt factors item 7 description table
AMP-104C System interrupt factors description
NO.DefineInterrupt condition descriptionNote
0DIn_RDigital input Channl NO.n Rising edge interrupt
AMP-104C TTL Digital interrupt channel 0\~ 3 factors definition of item 8
AMP-104C System interrupt factors definition of item 8
BitNo76543210
DI3_FDI2_FDI1_FDI0_F
AMP-104C TTL Digital interrupt channel 0\~3 factors item 8 description table
AMP-104C System interrupt factors description
NO.DefineInterrupt condition descriptionNote
0DIn_FDigital input Channl NO.n falling edge interrupt
AMP-104C TTL Digital interrupt channel 0 \~3 factors definition of item 9
AMP-104C System interrupt factors definition of item 9
BitNo76543210
DI3_RDI2_RDI1_RDI0_R
AMP-104CTTL Digital interrupt factors item9 description table
AMP-104C System interrupt factors description
NO.DefineInterrupt condition descriptionNote
0DIn_RDigital input Channl NO.n Rising edge interrupt
# MotionNet Interrupt Item Definition Table MotionNet Axis Motion Interupt factor definition(4XMO(-C)) ( MNET-4XMO/ MNET-4XMO-C )
4XMO(C) Axes motion interrupt factor definition
BitNo76543210
IDECEIDECSIACCEIACCS(*)(*)(*)INSTP
BitNo15141312111098
IORGC(*)ICLRC(*)ICOMP4(*)ISMELISPEL
BitNo2322212019181716
--------(*)(*)(*)ISD
BitNo3130292827262524
----------------
\*： Reserved. MotionNet Axes motion interrupt factors description table ( MNET-4XMO/ MNET-4XMO-C )
4XMO(C) Axes motion interrupt factors description table
NO.DefineInterrupt condition descriptionNote
0INSTPNormal stop
1ReservedReserved
2ReservedReserved
3ReservedReserved
4IACCSAcceleration Start
5IACCEAcceleration End
6IDECSDeceleration Start
7IDECEDeceleration End
8ISPEL+soft limit
9ISMEL-soft limit
10ReservedReserved
11ICOMP4General comparator is ON
12ReservedReserved
13ICLRCCounter is reset by CLR input
14ReservedReserved
15IORGCCounter is latched by ORG input
16ISDSD input turns on
17ReservedReserved
18ReservedReserved
19ReservedReserved
20~ReservedReserved(Always set to 0)
# MotionNet Axis Motion Interrupt factor definition(1XMO) ( MNET-1XMO )
1XMO Axes motion interrupt factor definition
BitNo76543210
ICOMPISMELISPELIDECEIDECSIACCEIACCSINSTP
BitNo15141312111098
------(*)ISDIORGC(*)ICLRC
BitNo2322212019181716
----------------
BitNo3130292827262524
----------------
\*： Reserved. # MotionNet Axes motion interrupt factors description table ( MNET-1XMO )
1XMO Axes motion interrupt factors description table
NO.DefineInterrupt condition descriptionNote
0INSTPNormal stop
1IACCSAcceleration Start
2IACCEAcceleration End
3IDECSDeceleration Start
4IDECEDeceleration End
5ISPEL+soft limit
6ISMEL-soft limit
7ICOMPGeneral comparator is ON
8ICLRCCounter is reset by CLR input
9ReservedReserved
10IORGCCounter is latched by ORG input
11ISDSD input turns on
12ReservedReserved
13~ReservedReserved(Always set to 0)
# MotionNet Axis Error Interrupt factor definition(4XMO(-C)) ( MNET-4XMO/ MNET-4XMO-C )
4XMO(C) Axes error interrupt factor definition
BitNo76543210
EALMEMELEPEL(*)EGCM(*)ENSLEPSL
BitNo15141312111098
EPCOEPBOESIP(*)(*)ESDEEMG(*)
BitNo2322212019181716
------------EPABEEAB
BitNo3130292827262524
----------------
\*： Reserved. # MotionNet Axes error interrupt factors description table ( MNET-4XMO/ MNET-4XMO-C ) Note that all default error factors are turned on.
4XMO(C) Axes error interrupt factors description table
NO.DefineInterrupt condition descriptionNote
0EPSL+Soft limit is ON and axis is stopped
1ENSL-Soft limit is ON and axis is stopped
2Reserved
3EGCMGeneral comparator is ON and axis is stopped
4Reserved
5EPEL+End limit is on and axis is stopped
6EMEL-End limit is on and axis is stopped
7EALMALM is happened and axis is stopped
8Reserved
9EEMGEMG is on and axis is stopped
10ESDSD input is on and axis is slowed down to stop
11Reserved
12Reserved
13ESIPAxis is stopped from other axis's error stop
14EPBOPulse input buffer overflow and stop
15EPCOInterpolation counter overflow
16EEABEncoder input signal error but axis is not stopped
17EPABPulse input signal error but axis is not stopped
18~ReservedReserved(Always set to 0)
# MotionNet Axis Error Interrupt factor definition(1XMO) ( MNET-1XMO )
1XMO Axes error interrupt factor definition
BitNo76543210
EEMG(*)EALMEMELEPELEGCMENSLEPSL
BitNo15141312111098
--EPABEEABESOR(*)ESTNEPBOESD
BitNo2322212019181716
----------------
BitNo3130292827262524
----------------
\*： Reserved. # MotionNet Axes error interrupt factors description table ( MNET-1XMO ) Note that all default error factors are turned on.
1XMO Axes interrupt factors description table
NO.DefineInterrupt condition descriptionNote
0EPSL+Soft limit is ON and axis is stopped
1ENSL-Soft limit is ON and axis is stopped
2EGCMGeneral comparator is ON and axis is stopped
3EPEL+End limit is on and axis is stopped
4EMEL-End limit is on and axis is stopped
5EALMALM is happened and axis is stopped
6Reserved
7EEMGEMG is on and axis is stopped
8ESDSD input is on and axis is slowed down to stop
9EPBOPulse input buffer overflow and stop
10ESTNStopped by a communication error
11ReservedReserved(Always set to 0)
12ESORPosition override could not be executed
13EEABEncoder input signal error but axis is not stopped
14EPABPulse input signal error but axis is not stopped
15~ReservedReserved(Always set to 0)
# PCI(e)-8154/8158, PCI-8102 Interrupt Item Definition Table PC(e)-8154 Interrupt factor Item definition table
Interrupt factor Item definition table
ItemDescription
0Axis0 Error interrupt
1Axis0 Motion interrupt
...
6Axis3 Error interrupt
7Axis3 Motion interrupt
......
9DB-8150 interrupt
PCl(e)-8158 Interrupt factor Item definition table
Interrupt factor Item definition table
ItemDescription
0Axis0 Error interrupt
1Axis0 Motion interrupt
...
14Axis7 Error interrupt
15Axis7 Motion interrupt
....
17DB-8150 interrupt
PCl-8102 Interrupt factor Item definition table
Interrupt factor Item definition table
ItemDescription
0Axis0 Error interrupt
1Axis0 Motion interrupt
2Axis1 Error interrupt
3Axis1 Motion interrupt
4GPIO interrupt factors
DB-8150 interrupt factors definition of Items
76543210
EZ1EZ0DI1DI0L1finL0finPWM1PWM0
15141312111098
----------FIFO_fullFIFO_lowFIFO_empty
2322212019181716
----------------
3130292827262524
----------------
DB-8150 interrupt factors description table
DB-8150 interrupt factors description table
NO.DefineInterrupt condition descriptionNote
0PWM0PWM0 Trigger Out Event
1PWM1PWM1 Trigger Out Event
2L0finLinearFunction0 Finish Event
3L1finLinearFunction1 Finish Event
4DI0DI0 Edge Occur
5DI1DI1 Edge Occur
6EZ0EZ0 Edge Occur
7EZ1EZ1 Edge Occur
8FIFO_emptyFIFO Empty event
9FIFO_lowFIFO Low event
10FIFO_fullFIFO Full event
11~31ReservedReserved
PCl(e)-8154/8158, PCl-8102 Axes motion interrupt factors definition of Items
76543210
IDECEIDECSIACCEIACCS--IWCOR2INCBSINSTP
15141312111098
IORGC--ICLRCICOMP5ICOMP4ICOMP3ISMELISPEL
2322212019181716
--------ICSTA----ISD
3130292827262524
----------------
PCI(e)-8154/8158, PCl-8102 Axes motion interrupt factors description table PCI(e)-8154/8158, PCI-8102 Axes motion interrupt factors description table
NO.DefineInterrupt condition descriptionNote
0INSTPNormal stop
1INCBSNext command in buffer starts
2IWCOR2Command pre-register 2 is empty and new command
3ReservedReserved
4IACCSAcceleration Start
5IACCEAcceleration End
6IDECSDeceleration Start
7IDECEDeceleration End
8ISPEL+soft limit
9ISMEL-soft limit
10ICOMP3Error comparator or comparator 3 is ON
11ICOMP4General comparator is ON
12ICOMP5Trigger comparator or comparator 5 is ON
13ICLRCCounter is reset by CLR input
14ReservedReserved
15IORGCCounter is latched by ORG input
16ISDSD input turns on
17ReservedReserved
18ReservedReserved
19ICSTACSTA input or APS_start_simultaneous_move turn on
20~ReservedReserved(Always set to 0)
# PC(e)-8154/8158, PCl-8102 Axes error interrupt definition of Items : (Return Code) The error interrupt sources are non-maskable but the error number of situation could be get from APS\_wait\_error\_int( )’s return code if it is not timeout.
Return CodeInterrupt condition descriptionNote
0+Soft Limit is on and axis is stopped
1-Soft Limit is on and axis is stopped
2Error Comparator or comparator 3 is ON and axis is stopped
3General Comparator is on and axis is stopped
4Trigger Comparator or comparator 5 is ON and axis is stopped
5+End Limit is on and axis is stopped
6-End Limit is on and axis is stopped
7ALM is happened and axis is stop
8CSTP is ON or APS_stop_simultaneous_move is on and axis is stopped
9CEMG is on and axis is stopped
10SD input is on and axis is slowed down to stop
11Reserved
12Interpolation operation error and stop
13Axis is stopped from other axis's error stop
14Pulse input buffer overflow and stop
15Interpolation counter overflow
16Encoder input signal error but axis is not stopped
17Pulse input signal error but axis is not stopped
18~Reserved
PCI-8102 GPlO interrupt factors definition of Items
76543210
DI3RaisingDI2RaisingDI1RaisingDIORaisingDI3FallingDI2FallingDI1FallingDIOFalling
15141312111098
----------------
2322212019181716
----------------
3130292827262524
----------------
PCI-8102 GPlO interrupt factors description table
PCI-8102 GPIO interrupt factors description table
NO.DefineInterrupt condition descriptionNote
0DIO FallingDIO Falling Edge
1DI1 FallingDI1 Falling Edge
2DI2 FallingDI2 Falling Edge
3DI3 FallingDI3 Falling Edge
4DIO RaisingDI0 Raising Edge
5DI1 RaisingDI1 Raising Edge
6DI2 RaisingDI2 Raising Edge
7DI3 RaisingDI3 Raising Edge
8~ReservedReserved
# PCI-C154(+) Interrupt Item Definition Table PCI-C154(+) Interrupt factor Item definition table
Interrupt factor Item definition table
ItemDescription
0Axis0 Error interrupt
1Axis0 Motion interrupt
...
6Axis3 Error interrupt
7Axis3 Motion interrupt
8Latch/Compare channel 0 interrupt
...
11Latch/Compare channel 3 interrupt
PCI-C154(+) Axes motion interrupt factors definition of Items
76543210
IDECEIDECSIACCEIACCS--IWCOR2INCBSINSTP
15141312111098
IORGC--ICLRCICOMP5ICOMP4ICOMP3ISMELISPEL
2322212019181716
--------ICSTA----ISD
3130292827262524
----------------
PCl-C154(+) Axes motion interrupt factors description table
PCI-C154(+) Axes motion interrupt factors description table
NO.DefineInterrupt condition descriptionNote
0INSTPNormal stop
1INCBSNext command in buffer starts
2IWCOR2Command pre-register 2 is empty and new command to write.
3ReservedReserved
4IACCSAcceleration Start
5IACCEAcceleration End
6IDECSDeceleration Start
7IDECEDeceleration End
8ISPEL+soft limit
9ISMEL-soft limit
10ICOMP3Error comparator is ON
11ICOMP4General comparator is ON
12ICOMP5Trigger comparator is ON
13ICLRCCounter is reset by CLR input
14ReservedReserved
15IORGCCounter is latched by ORG input
16ISDSD input turns on
17~18ReservedReserved
19ICSTACSTA input or APS_start_simultaneous_move turn on
20~31ReservedReserved(Always set to 0)
# PCl-C154(+) Axes error interrupt definition of Items : (Return Code) The error interrupt sources are non-maskable but the error number of situation could be get from APS\_wait\_error\_int( )’s return code if it is not timeout.
Return CodeInterrupt condition descriptionNote
0+Soft Limit is on and axis is stopped
1-Soft Limit is on and axis is stopped
2Error Comparator is on and axis is stopped
3General Comparator is on and axis is stopped
4Trigger Comparator is on and axis is stopped
5+End Limit is on and axis is stopped
6-End Limit is on and axis is stopped
7ALM is happened and axis is stop
8CSTP is ON or APS_stop_simultaneous_move is on and axis is stopped
9CEMG is on and axis is stopped
10SD input is on and axis is slowed down to stop
11Reserved
12Interpolation operation error and stop
13Axis is stopped from other axis's error stop
14Pulser input buffer overflow and stop
15Interpolation counter overflow
16Encoder input signal error but axis is not stopped
17Pulser input signal error but axis is not stopped
18~Reserved
PCI-C154(+) Latch/Compare interrupt factors definition of Items
76543210
CMPECMPFPWMOLINFLTCFOLTCFLLTCFELTCFF
15141312111098
------------CMPEOCMPL
2322212019181716
----------------
3130292827262524
----------------
PCl-C154(+) Latch/Compare interrupt factors description table
PCI-C154+ Latch/Compare interrupt factors description table
NO.DefineInterrupt condition descriptionNote
0LTCFFLatch fifo is in full state
1LTCFELatch fifo is in empty state
2LTCFLLatch fifo is above level state (Be equal to or greater than level)
3LTCFOLatch fifo is in overflow state
4LINFLinear comparator is finished.
5PWMOPWM signal overlaps
6CMPFComparator is in full state
7CMPEcomparator fifo is in empty state
8CMPLcomparator fifo is below level state (Be equal to or less than level)
9CMPUcomparator fifo is in underflow state
10~31ReservedReserved(Always set to 0)
# PCI-8254/58 / AMP-204/8C Interrupt Item Definition Table PCI-8254/58 /AMP-204/8C Interrupt factor Item definition table
Interrupt Item Definition Table
Item No.Description
0~7Axes interruptsFor PCI-8254, Item is from 0 to 3. (4~7 is reserved.)For PCI-8254, Item is from 0 to 7.
8System interrupts
9DI – Rising edge interrupts
10DI- Falling edge interrupts
# PCl-8254/58 /AMP-204/8C Axes interrupt factors definition of Item0\~7 PCI-8254/AMP-204C Axes interrupt factors definition of Item 0\~3 PCI-8258/AMP-208C Axes interrupt factors definition of Item 0\~7 (\*1)IMDN： All motion action including home move which can be waited motion done by this interrupt factor. Users can set normal stop (motion done) condition by set axis parameter function. (\*2)ICSTP： Motion command is stopped, but the axis could be still in motion.
Axes interrupt factors description table
Factor No.DefineInterrupt condition descriptionNote
0IALMServo alarm signal turn ON
1IPELPlus end limit switch turn ON
2IMELMinus end limit switch turn ON
3IORGHome switch turn ON
4IEZEZ passed signal turn ON
5IINPIn position
6IEMGEMG signal turn ON
7ReservedReserved, always be 0
8ICSTPCommand stop(*2)
9IVMIn maximum velocity
10IACCIn acceleration
11IDECIn deceleration
12IMDNMotion done(*1)
13IASTPAbnormal stop
14ReservedReserved, always be 0
15ISPELIn positive soft limit
16ISMELIn minus soft limit
17ISCLIn soft circular limit
18IPTB1P(V)T buffer 1/4 empty (free size >250)
19IPTB2P(V)T buffer 1/2 empty (free size >500)
20IPTB3P(V)T buffer empty (free size = 1000)
21~ReservedReserved, always be 0
PCl-8254/58 /AMP-204/8C System interrupt factors definition of Item 8
System interrupt factors description table
Factor No.DefineInterrupt condition descriptionNote
0IEMGHardware emergency stop
1ILCF0Hardware linear comparator 0 finish event
2ILCF1Hardware linear comparator 1 finish event
3IFCF0hardware FIFO comparator 0 finish event
4IFCF1hardware FIFO comparator 1 finish event
5ReservedReserved
PCl-8254/58 /AMP-204/8C Dl-Rising edge interrupt factors definition of Item 9
DI interrupt factors description table
Factor No.DefineInterrupt condition descriptionNote
0 ~ 7DI0~DI7DI0 ~ 7 rising edge event
8 ~ 23TTL0~TTL15TTL0 ~ 15 rising edge event
24ReservedReserved
PCl-8254/58 /AMP-204/8C Dl-Falling edge interrupt factors definition of Item 10
DI interrupt factors description table
Factor No.DefineInterrupt condition descriptionNote
0 ~ 7DI0~DI7DI0 ~ 7 falling edge event
8 ~ 23TTL0~TTL15TTL0 ~ 15 falling edge event
24ReservedReserved
# PCIe-833x Interrupt Item Definition Table PCle-8332 Interrupt Item Definition Table
Interrupt Item Definition Table
Item No.Description
0~15Axes interrupts (16 axes)
64System interrupts
65DI – Rising edge interrupts
66DI- Falling edge interrupts
PCle-8334 Interrupt Item Definition Table
Interrupt Item Definition Table
Item No.Description
0~31Axes interrupts (32 axes)
64System interrupts
65DI – Rising edge interrupts
66DI- Falling edge interrupts
PCle-8338 Interrupt Item Definition Table
Interrupt Item Definition Table
Item No.Description
0~63Axes interrupts (64 axes)
64System interrupts
65DI – Rising edge interrupts
66DI- Falling edge interrupts
(\*1)IMDN： All motion action including home move which can be waited motion done by this interrupt factor. Users can set normal stop (motion done) condition by set axis parameter function. (\*2)ICSTP： Motion command is stopped, but the axis could be still in motion. PCle-8332 Axes interrupt factors definition of Item 0\~15
interrupt factors description table
Factor No.DefineInterrupt condition descriptionNote
0IALMServo alarm signal turn ON
1IPELPlus end limit switch turn ON
2IMELMinus end limit switch turn ON
3IORGHome switch turn ON
4ReservedReserved
5IINPIn position
6IEMGEMG signal turn ON
7ReservedReserved, always be 0
8ICSTPCommand stop(*2)
9IVMIn maximum velocity
10IACCIn acceleration
11IDECIn deceleration
12IMDNMotion done(*1)
13IASTPAbnormal stop
14ReservedReserved, always be 0
15ISPELIn positive soft limit
16ISMELIn minus soft limit
17ISCLIn soft circular limit
18IPTB1P(V)T buffer 1/4 empty (free size >25)
19IPTB2P(V)T buffer 1/2 empty (free size >50)
20IPTB3P(V)T buffer empty (free size = 100)
21~ReservedReserved, always be 0
(\*1)IMDN： All motion action including home move which can be waited motion done by this interrupt factor. Users can set normal stop (motion done) condition by set axis parameter function. (\*2)ICSTP： Motion command is stopped, but the axis could be still in motion. PCle-8334 Axes interrupt factors definition of Item 0\~31
Axes interrupt factors description table
Factor No.DefineInterrupt condition descriptionNote
0IALMServo alarm signal turn ON
1IPELPlus end limit switch turn ON
2IMELMinus end limit switch turn ON
3IORGHome switch turn ON
4ReservedReserved
5IINPIn position
6IEMGEMG signal turn ON
7ReservedReserved, always be 0
8ICSTPCommand stop(*2)
9IVMIn maximum velocity
10IACCIn acceleration
11IDECIn deceleration
12IMDNMotion done(*1)
13IASTPAbnormal stop
14ReservedReserved, always be 0
15ISPELIn positive soft limit
16ISMELIn minus soft limit
17ISCLIn soft circular limit
18IPTB1P(V)T buffer 1/4 empty (free size >25)
19IPTB2P(V)T buffer 1/2 empty (free size >50)
20IPTB3P(V)T buffer empty (free size = 100)
21~ReservedReserved, always be 0
PCle-8338 Axes interrupt factors definition of Item 0\~63
PCIe-8338 Axes interrupt factors description table
Factor No.DefineInterrupt condition descriptionNote
0IALMServo alarm signal turn ON
1IPELPlus end limit switch turn ON
2IMELMinus end limit switch turn ON
3IORGHome switch turn ON
4ReservedReserved
5IINPIn position
6IEMGEMG signal turn ON
7ReservedReserved, always be 0
8ICSTPCommand stop(*2)
9IVMIn maximum velocity
10IACCIn acceleration
11IDECIn deceleration
12IMDNMotion done(*1)
13IASTPAbnormal stop
14ReservedReserved, always be 0
15ISPELIn positive soft limit
16ISMELIn minus soft limit
17ISCLIn soft circular limit
18IPTB1P(V)T buffer 1/4 empty (free size >25)
19IPTB2P(V)T buffer 1/2 empty (free size >50)
20IPTB3P(V)T buffer empty (free size = 100)
21~ReservedReserved, always be 0
(\*1)IMDN： All motion action including home move which can be waited motion done by this interrupt factor. Users can set normal stop (motion done) condition by set axis parameter function. (\*2)ICSTP： Motion command is stopped, but the axis could be still in motion. PCle-833x System interrupt factors definition of Item 64
System interrupt factors description table
Factor No.DefineInterrupt condition descriptionNote
0IEMGHardware emergency stop
1IDISCONNECTOne of connecting slave disconnect.(*1)
(\*1)IDISCONNECT： Kernel supported after version “2020091701”. PCle-833x Dl-Rising edge interrupt factors definition of Item 65
DI interrupt factors description table
Factor No.DefineInterrupt condition descriptionNote
0 ~ 3DI0~DI3DI0 ~ 3 rising edge event
PCle-833x Dl-Falling edge interrupt factors definition of Item 66
DI interrupt factors description table
Factor No.DefineInterrupt condition descriptionNote
0 ~ 3DI0~DI3DI0 ~ 3 falling edge event
# AMP-304C Interrupt Item Definition Table AMP-304C Interrupt factor Item definition table
Interrupt factor Item definition table
ItemDescription
0Axis0 Error interrupt
1Axis0 Motion interrupt
2Axis1 Error interrupt
3Axis1 Motion interrupt
4Axis2 Error interrupt
5Axis2 Motion interrupt
6Axis3 Error interrupt
7Axis3 Motion interrupt
8Latch/Compare channel 0 interrupt
9Latch/Compare channel 1 interrupt
10Latch/Compare channel 2 interrupt
11Latch/Compare channel 3 interrupt
12Digital input interrupt channel 0 ~ 15 (Falling edge)
13Digital input interrupt channel 0 ~ 15 (Rising edge)
14TTL Digital input interrupt channel 0 ~ 3 (Falling edge)
15TTL Digital input interrupt channel 0 ~ 3 (Rising edge)
AMP-304C Axes motion interrupt factors definition of Items
76543210
IDECEIDECSIACCEIACCS--IWCOR2INCBSINSTP
15141312111098
IORGC--ICLRC--ICOMP4ICOMP3ISMELISPEL
2322212019181716
--------ICSTA----ISD
3130292827262524
----------------
AMP-304C Axes motion interrupt factors description table
AMP-304C Axes motion interrupt factors description table
NO.DefineInterrupt condition descriptionNote
0INSTPNormal stop
1INCBSNext command in buffer starts
2IWCOR2Command pre-register 2 is empty and new command to write.
3ReservedReserved
4IACCSAcceleration Start
5IACCEAcceleration End
6IDECSDeceleration Start
7IDECEDeceleration End
8ISPEL+soft limit
9ISMEL-soft limit
10ICOMP3Error comparator is ON
11ICOMP4General comparator is ON
12ReservedReserved
13ICLRCCounter is reset by CLR input
14ReservedReserved
15IORGCCounter is latched by ORG input
16ISDSD input turns on
17~18ReservedReserved
19ICSTACSTA input or APS_start_simultaneous_move turn on
20~31ReservedReserved(Always set to 0)
# AMP-304C Axes error interrupt definition of Items : (Return Code) The error interrupt sources are non-maskable but the error number of situation could be get from APS\_wait\_error\_int( )’s return code if it is not timeout.
Return CodeInterrupt condition descriptionNote
0+Soft Limit is on and axis is stopped
1-Soft Limit is on and axis is stopped
2Error Comparator is on and axis is stopped
3General Comparator is on and axis is stopped
4Reserved
5+End Limit is on and axis is stopped
6-End Limit is on and axis is stopped
7ALM is happened and axis is stop
8CSTP is ON or APS_stop_simultaneous_move is on and axis is stopped
9CEMG is on and axis is stopped
10SD input is on and axis is slowed down to stop
11Reserved
12Interpolation operation error and stop
13Axis is stopped from other axis's error stop
14Pulser input buffer overflow and stop
15Interpolation counter overflow
16Encoder input signal error but axis is not stopped
17Pulser input signal error but axis is not stopped
18~Reserved
AMP-304C Latch/Compare interrupt factors definition of Items
76543210
CMPECMPFPWMOLINFLTCFOLTCFLLTCFELTCFF
15141312111098
--------------CMPL
2322212019181716
----------------
3130292827262524
----------------
AMP-304C Latch/Compare interrupt factors description table
AMP-304C Latch/Compare interrupt factors description table
NO.DefineInterrupt condition descriptionNote
0LTCFFLatch fifo is in full state
1LTCFELatch fifo is in empty state
2LTCFLLatch fifo is above level state. (Be equal to or greater than level)Refer to LTC_FIFO_LEVEL parameter
3LTCFOLatch fifo is in overflow state
4LINFLinear comparator is finished.
5PWMOPWM signal overlaps. Previous PWM or compare output still in high state, but nextPWM signal triggered would cause this interrupt. Refer to TGR_TRGx_PWD parameter
6CMPFComparator is in full state
7CMPEcomparator fifo is in empty state
8CMPLComparator fifo is below level state. (Be equal to or less than level)Refer to TGR_TCMPx_LEVEL parameter
9 ~31ReservedReserved(Always set to 0)
AMP-304C Digital interrupt channel 0\~15 factors definition of item 12
AMP-104C System interrupt factors definition of item 4
BitNo76543210
DI7_FDI6_FDI5_FDI4_FDI3_FDI2_FDI1_FDI0_F
BitNo15141312111098
DI15_FDI14_FDI13_FDI12_FDI11_FDI10_FDI9_FDI8_F
AMP-304C Digital interrupt channel 0\~ 15 factors item 12 description table
AMP-104C System interrupt factors description
NO.DefineInterrupt condition descriptionNote
0~15DIn_FDigital input Channl NO.n falling edge interrupt
AMP-304C Digital interrupt channel 0\~ 15 factors definition of item 13
AMP-304C System interrupt factors definition of item 13
BitNo76543210
DI7_RDI6_RDI5_RDI4_RDI3_RDI2_RDI1_RDI0_R
BitNo15141312111098
DI15_RDI14_RDI13_RDI12_RDI11_RDI10_RDI9_RDI8_R
AMP-304C Digital interrupt factors item 13 description table
AMP-304C System interrupt factors description
NO.DefineInterrupt condition descriptionNote
0~15DIn_RDigital input Channl NO.n Rising edge interrupt
AMP-304C TTL Digital interrupt channel 0\~ 3 factors definition of item 14
AMP-304C System interrupt factors definition of item 14
BitNo76543210
DI3_FDI2_FDI1_FDI0_F
AMP-304C TTL Digital interrupt channel O\~ 3 factors item 14 description table
AMP-304C System interrupt factors description
NO.DefineInterrupt condition descriptionNote
0~3DIn_FDigital input Channl NO.n falling edge interrupt
4~15Reserved
AMP-304C TTL Digital interrupt channel 0 \~3 factors definition of item 15
AMP-304C System interrupt factors definition of item 15
BitNo76543210
DI3_RDI2_RDI1_RDI0_R
AMP-304C TTL Digital interrupt factors item 15 description table
AMP-304C System interrupt factors description
NO.DefineInterrupt condition descriptionNote
0~3DIn_RDigital input Channl NO.n Rising edge interrupt
4~15Reserved
PCIe-8364RS Interrupt Item Definition Table
Interrupt Item Definition Table
Item No.DescriptionNote
0~31Axes interrupts (32 axes)
64System interrupts
65DI - Rising edge interrupts
66DI - Falling edge interrupts
PCle-8364RS Axes interrupt factors definition of Item 0\~31
Axes interrupt factors description table
Factor No.DefineInterrupt condition descriptionNote
0IALMServo alarm signal turn ON
1IPELPlus end limit switch turn ON
2IMELMinus end limit switch turn ON
3IORGHome switch turn ON
4ReservedReserved
5IINPIn position
6IEMGEMG signal turn ON
7ReservedReserved, always be 0
8ICSTPCommand stop(*2)
9IVMIn maximum velocity
10IACCIn acceleration
11IDECIn deceleration
12IMDNMotion done(*1)
13IASTPAbnormal stop
14ReservedReserved, always be 0
15ISPELIn positive soft limit
16ISMELIn minus soft limit
17ISCLIn soft circular limit
18IPTB1P(V)T buffer 1/4 empty (free size >25)
19IPTB2P(V)T buffer 1/2 empty (free size >50)
20IPTB3P(V)T buffer empty (free size = 100)
21~ReservedReserved, always be 0
(\*1)IMDN： All motion action including home move which can be waited motion done by this interrupt factor. Users can set normal stop (motion done) condition by set axis parameter function. (\*2)ICSTP： Motion command is stopped, but the axis could be still in motion. PCle-8364RS System interrupt factors definition of Item 64
System interrupt factors description table
Factor No.DefineInterrupt condition descriptionNote
0IEMGHardware emergency stop
1IDISCONNECTOne of connecting slave disconnect.
PCle-8364RS Dl-Rising edge interrupt factors definition of Item 65
DI interrupt factors description table
Factor No.DefineInterrupt condition descriptionNote
0 ~ 7DI0~DI7DI0 ~ 7 rising edge event
PCle-8364RS Dl-Falling edge interrupt factors definition of Item 66
DI interrupt factors description table
Factor No.DefineInterrupt condition descriptionNote
0 ~ 7DI0~DI7DI0 ~ 7 falling edge event
H. Field bus parameter table
PCI-8392H HSL parameter table
NO.DefineDescriptionValueDefault
00hPRF_COMMUNICATION_TYPEFiledBusCommunicationType0 : Half duplex1 : Full duplex1
01hPRF_TRANSFER_RATENetwork transfer rate.1 : 3 Mbps2 : 6 Mbps3 : 12 Mbps2
02hPRF_HUB_NUMBERTotal hub number.0~70
03hPRF_INITIAL_TYPEReset digital output to zero or not when connect the slave modules.0 : Reset digital output to zero.1 : Depend on slave state.0
04hPRF_CHKERRCNT_LAYERSet the degree of checking error count1~77
PCI(e)-7856 MNET parameter table
NO.DefineDescriptionValueDefault
00hReserved
01hPRF_TRANSFER_RATENetwork transfer rate.0 : 2.5Mbps1 : 5 Mbps2 : 10 Mbps3 : 20 Mbps3
02h~04hReserved
05hPRF_RESEND_CNTSet MNET command resend counts0 ~ 10000
PCI(e)-7856 HSL parameter table
NO.DefineDescriptionValueDefault
00hPRF_COMMUNICATION_TYPEFiledBusCommunicationType0 : Half duplex1 : Full duplex1
01hPRF_TRANSFER_RATENetwork transfer rate.1 : 3 Mbps2 : 6 Mbps3 : 12 Mbps2
02hPRF_HUB_NUMBERTotal hub number.0~70
03hPRF_INITIAL_TYPEReset digital output to zero or not when connect the slave modules.0 : Reset digital output to zero.1 : Depend on slave state.0
04hPRF_CHKERRCNT_LAYERSet the degree of checking error count1~77
DPAC-3000 MNET parameter table
NO.DefineDescriptionValueDefault
00hReserved
01hPRF_TRANSFER_RATENetwork transfer rate.0 : 2.5Mbps1 : 5 Mbps2 : 10 Mbps3 : 20 Mbps3
02h~Reserved
DPAC-3000 HSL parameter table
NO.DefineDescriptionValueDefault
00hPRF_COMMUNICATION_TYPEFiledBusCommunicationType0 : Half duplex1 : Full duplex1
01hPRF_TRANSFER_RATENetwork transfer rate.1 : 3 Mbps2 : 6 Mbps3 : 12 Mbps2
02hPRF_HUB_NUMBERTotal hub number.0~70
03hPRF_INITIAL_TYPEReset digital output to zero or not when connect the slave modules.0 : Reset digital output to zero.1 : Depend on slave state.0
04hPRF_CHKERRCNT_LAYERSet the degree of checking error count1~77
# I. Gantry parameters table
PCI-8253/56 Gantry parameters table
Para NO.DefineDescriptionParameter data value.Default
00hGANTRY_MODEEnable/Disable gantry relation.0 : Disable1 : Enable0
01hGENTRY_DEVIATIONSet eviation protection. If deviation is over this setting, axis will be servo off.Positive I32 value.8,000
02hGENTRY_DEVIATION_STPSet deviation protection. If deviation is over this setting, axis will be stopped.Positive I32 value.5,000
PCI-8392(H) Gantry parameters table
Para NO.DefineDescriptionParameter data value.Default
00hGANTRY_MODEEnable/Disable gantry relation.0 : Disable1 : Enable0
01hGENTRY_DEVIATIONSet deviation protection. If deviation is over this setting, axis will be servo off.Positive I32 value.8,000
02hGENTRY_DEVIATION_STPSet deviation protection. If deviation is over this setting, axis will be stopped.Positive I32 value.5,000
# J. Trigger parameter table PCI-8253/56 Trigger parameter table \*1： PCI-8256 only.
NODefineDescriptionValueDefault :
0x00TG_LCMP0_SRCLinear compare 0 (LCMP0) source0 ~ 5 : Encoder counter 0~50
0x01TG_LCMP1_SRCLinear compare 1 (LCMP1) source0 ~ 5 : Encoder counter 0~52
0x02TG_TCMP0_SRCTable compare 0 (TCMP0) source0 ~ 5 : Encoder counter 0~51
0x03TG_TCMP1_SRCTable compare 1 (TCMP1) source0 ~ 5 : Encoder counter 0~54
0x04TG_LCMP0_ENLinear compare 0 (LCMP0) enable0 : Disable, 1 : Enable0
0x05TG_LCMP1_ENLinear compare 1 (LCMP1) enable0 : Disable, 1 : Enable0
0x06TG_TCMP0_ENTable compare 0 (TCMP0) enable0 : Disable, 1 : Enable0
0x07TG_TCMP1_ENTable compare 1 (TCMP1) enable0 : Disable, 1 : Enable0
0x10TG_TRG0_SRCTrigger output 0 (TRG0) source0 : None 1 : LCMP0 (Default) 2 : LCMP1 4 : FCMP0 8 : FCMP1 16 : TMR1
0x11TG_TRG1_SRCTrigger output 1 (TRG1) source0 : None 1 : LCMP0 2 : LCMP1 4 : FCMP0 (Default) 8 : FCMP1 16 : TMR4
0x12TG_TRG2_SRCTrigger output 2 (TRG2) source (*1)0 : None1 : LCMP02 : LCMP1 (Default)4 : FCMP08 : FCMP116 : TMR2
0x13TG_TRG3_SRCTrigger output 3 (TRG3) source (*1)0 : None1 : LCMP02 : LCMP14 : FCMP08 : FCMP1 (Default)16 : TMR8
0x14TG_TRG0_PWDTRG0 pulse widthPulse Width = ( N+ 2) *20 ns24 bit value. 0~ 167772150 (40 ns)
0x15TG_TRG1_PWDTRG1 pulse widthPulse Width = ( N+ 2) *20 ns24 bit value. 0~ 167772150 (40 ns)
0x16TG_TRG2_PWDTRG2 pulse width (*1)Pulse Width = ( N+ 2) *20 ns24 bit value. 0~ 167772150 (40 ns)
0x17TG_TRG3_PWDTRG3 pulse width (*1)Pulse Width = ( N+ 2) *20 ns24 bit value. 0~ 167772150 (40 ns)
0x18TG_TRG0_CFGTRG 0 configurationBit 0 : Pulse logic inverse.Bit 1 : pulse (0) / toggle (1)Bit 2~31 : Reserved (set 0)0
0x19TG_TRG1_CFGTRG 1 configurationBit 0 : Pulse logic inverse.Bit 1 : pulse (0) / toggle (1)Bit 2~31 : Reserved (set 0)0
0x1ATG_TRG2_CFGTRG 2 configuration (*1)Bit 0 : Pulse logic inverse.Bit 1: pulse (0) / toggle(1)Bit 2~31: Reserved (set 0)0
0x1BTG_TRG3_CFGTRG 3 configuration (*1)Bit 0: Pulse logic inverse.Bit 1: pulse (0) / toggle(1)Bit 2~31: Reserved (set 0)0
0x20TMR_ITVTimer IntervalTimer Interval = (N+2)*20 ns 28 bit value. 0~2684354550 (40 ns)
0x21TMR_ENTimer enable0: Disable, 1: Enable0
MNET-4XMO-C Trigger parameter table
NODefineDescriptionValueDefault
0x00TG_CMP0_SRCCompare 0 source0 : Command counter1 : Position counter0
0x01TG_CMP1_SRCCompare 1 source0 : Command counter1 : Position counter0
0x02TG_CMP2_SRCCompare 2 source0 : Command counter1 : Position counter0
0x03TG_CMP3_SRCCompare 3 source0 : Comand counter1 : Position counter0
0x04TG_CMP0_ENCompare 0 enable0 : DisableOther : Enable.1 : data = cmp counter(regardless of counting direction)2 : data = cmp counter(while counting up)3 : data = cmp counter(while counting down)4 : data > cmp counter5 : data < cmp counter0
0x05TG_CMP1_ENCompare 1 enable0 : DisableOther : Enable.1 : data = cmp counter(regardless of counting direction)2 : data = cmp counter(while counting up)3 : data = cmp counter(while counting down)4 : data > cmp counter5 : data < cmp counter0
0x06TG_CMP2_ENCompare 2 enable0 : DisableOther : Enable.1 : data = cmp counter(regardless of counting direction)2 : data = cmp counter (while counting up)3 : data = cmp counter (while counting down)4 : data > cmp counter5 : data < cmp counter0
0x07TG_CMP3_ENCompare 3 enable0 : DisableOther : Enable.1 : data = cmp counter (regardless of counting direction)2 : data = cmp counter (while counting up)3 : data = cmp counter (while counting down)4 : data > cmp counter5 : data < cmp counter0
0x08TG_CMP0_TYPECompare 0 type0 : Table, 1 : Linear0
0x09TG_CMP1_TYPECompare 1 type0 : Table, 1 : Linear0
0x0ATG_CMP2_TYPECompare 2 type0 : Table, 1 : Linear0
0x0BTG_CMP3_TYPECompare 3 type0 : Table, 1 : Linear0
0x0CTG_CMPH_ENCompare H enable0 : Disable, 1 : Enable0
0x0DTG_CMPH_DIR_ENCompare H direction enable0 : Disable, 1 : Enable0
0x0ETG_CMPH_DIRCompare H direction0 : Positive direction,1 : Negative direction.0
0x10TG_TRG0_SRCTrigger output 0 (TRG0) sourceBit 0 : CMP 0Bit 1 : CMP 1Bit 2 : CMP 2Bit 3 : CMP 3Bit 4 : CMP HValue : 0x00 ~ 0x1f1
0x11TG_TRG1_SRCTrigger output 1 (TRG1) sourceBit 0 : CMP 0Bit 1 : CMP 1Bit 2 : CMP 2Bit 3 : CMP 3Bit 4 : CMP HValue : 0x00 ~ 0x1f2
0x12TG_TRG2_SRCTrigger output 2 (TRG2) sourceBit 0 : CMP 0Bit 1 : CMP 1Bit 2 : CMP 2Bit 3 : CMP 3Bit 4 : CMP HValue : 0x00 ~ 0x1f4
0x13TG_TRG3_SRCTrigger output 3 (TRG3) sourceBit 0 : CMP 0Bit 1 : CMP 1Bit 2 : CMP 2Bit 3 : CMP 3Bit 4 : CMP HValue : 0x00 ~ 0x1f8
0x14TG_TRG0_PWDTRG0 pulse widthPulse Width = (N+5) * 10 nsValue : 0x05 ~ 0x7ffffffThe value smaller than 0x05 is treated as 0x05.5 (100 ns)
0x15TG_TRG1_PWDTRG1 pulse widthPulse Width = (N+5) * 10 nsValue : 0x05 ~ 0x7ffffffThe value smaller than 0x05 is treated as 0x05.5 (100 ns)
0x16TG_TRG2_PWDTRG2 pulse widthPulse Width = (N+5) * 10 nsValue : 0x05 ~ 0x7ffffffThe value smaller than 0x05 is treated as 0x05.5 (100 ns)
0x17TG_TRG3_PWDTRG3 pulse widthPulse Width = (N+5) * 10 nsValue : 0x05 ~ 0x7ffffffThe value smaller than 0x05 is treated as 0x05.5 (100 ns)
0x18TG_TRG0_CFGTRG 0 configurationBit 0 : Pulse logic inverse.Not Inverse (0) / Inverse (1)Bit 1~2: pulse (0) / toggle (1) / ByPass (2) / Disable (3)Bit 3~31: Reserved (set 0)0
0x19TG_TRG1_CFGTRG 1 configurationBit 0: Pulse logic inverse.Not Inverse (0) / Inverse (1)Bit 1~2: pulse (0) / toggle (1) / ByPass (2) / Disable (3)Bit 3~31: Reserved (set 0)0
0x1ATG_TRG2_CFGTRG 2 configurationBit 0: Pulse logic inverse.Not Inverse (0) / Inverse (1)Bit 1~2: pulse (0) / toggle (1) / ByPass (2) / Disable (3)Bit 3~31: Reserved (set 0)0
0x1BTG_TRG3_CFGTRG 3 configurationBit 0: Pulse logic inverse.Not Inverse (0) / Inverse (1)Bit 1~2: pulse (0) / toggle (1) / ByPass (2) / Disable (3)Bit 3~31: Reserved (set 0)0
0x20TG_ENCH_CFGEncoder H configurationBit 0: Filter Enable. 1: Enable, 0: Disable.Bit 1: Counter Direction Inverse. 0: Not Inverse, 1: Inverse.Bit 2~4 : Decoder mode. 0x00 : OUT/DIR, 0x01 : CW/CCW, 0x02 : 1XAB, 0x03 : 2XAB, 0x04 : 4XAB.0
HSL-4XMO Trigger parameter table
NODefineDescriptionValueDefault :
0x00TG_CMP0_SRCCompare 0 source0 : Command counter1 : Position counter0
0x01TG_CMP1_SRCCompare 1 source0 : Command counter1 : Position counter0
0x02TG_CMP2_SRCCompare 2 source0 : Command counter1 : Position counter0
0x03TG_CMP3_SRCCompare 3 source0 : Comand counter1 : Position counter0
0x04TG_CMP0_ENCompare 0 enable0 : DisableOther : Enable.1 : data = cmp counter(regardless of counting direction)2 : data = cmp counter(while counting up)3 : data = cmp counter(while counting down)4 : data > cmp counter5 : data < cmp counter0
0x05TG_CMP1_ENCompare 1 enable0 : DisableOther : Enable.1 : data = cmp counter(regardless of counting direction)2 : data = cmp counter(while counting up)3 : data = cmp counter(while counting down)4 : data > cmp counter5 : data < cmp counter0
0x06TG_CMP2_ENCompare 2 enable0 : DisableOther : Enable.1 : data = cmp counter(regardless of counting direction)2 : data = cmp counter (while counting up)3 : data = cmp counter (while counting down)4 : data > cmp counter5 : data < cmp counter0
0x07TG_CMP3_ENCompare 3 enable0 : DisableOther : Enable.1 : data = cmp counter (regardless of counting direction)2 : data = cmp counter (while counting up)3 : data = cmp counter (while counting down)4 : data > cmp counter5 : data < cmp counter0
0x08Reserve
0x09Reserve
0x0AReserve
0x0BReserve
0x0CReserve
0x0DReserve
0x0EReserve
0x10Reserve
0x11Reserve
0x12Reserve
0x13Reserve
0x14Reserve
0x15Reserve
0x16Reserve
0x17Reserve
0x18TG_TRG0_CFGTRG 0 configurationNot Inverse (0) / Inverse (1)0
0x19TG_TRG1_CFGTRG 1 configurationNot Inverse (0) / Inverse (1)0
0x1ATG_TRG2_CFGTRG 2 configurationNot Inverse (0) / Inverse (1)0
0x1BTG_TRG3_CFGTRG 3 configurationNot Inverse (0) / Inverse (1)0
0x21TG_CMP0_DIRCompare 0 direction0 : Positive direction,1 : Negative direction.0
0x22TG_CMP1_DIRCompare 1 direction0 : Positive direction,1 : Negative direction.0
0x23TG_CMP2_DIRCompare 2 direction0 : Positive direction,1 : Negative direction.0
0x24TG_CMP3_DIRCompare 3 direction0 : Positive direction,1 : Negative direction.0
DB-8150 Trigger parameter table
NODefineDescriptionValueDefault :
0x00TG_PWM0_PULSE_WIDTHSet PWM pulse width (CH0)1~65535Note :Pulse Width(nsec) = Parameter * 100 + 850x3E7(999)(100usec)
0x01TG_PWM1_PULSE_WIDTHSet PWM pulse width (CH1)1~65535Note :Pulse Width(nsec) = Parameter * 100 + 850x3E7(999)(100usec)
0x02TG_PWM0_MODESelect the pulse output or level switch output (CH0)0 : Pulse output1 : Level switch output (toggle output)0
0x03TG_PWM1_MODESelect the pulse output or level switch output (CH1)0 : Pulse output1 : Level switch output (toggle output)0
0x04TG_TIMER0_INTERVALSet Timer interval (CH0)0~1073741823Note :Timer cycle time(nsec) = (interval + 5) * 250(125nsec)
0x05TG_TIMER1_INTERVALSet Timer interval (CH1)0~1073741823Note :Timer cycle time(nsec) = (interval + 5) * 250(125nsec)
0x06TG_ENC0_CNT_DIRSet Encoder count direction (CH0)0 : Not inverse1 : Inverse0
0x07TG_ENC1_CNT_DIRSet Encoder count direction (CH1)0 : Not inverse1 : Inverse0
0x08TG_IPT0_MODESet pulse input mode (CH0)0 : OUT/DIR1 : CW/CCW2 : 1x AB-Phase3 : 2x AB-Phase4 : 4x AB-Phase0
0x09TG_IPT1_MODESet pulse input mode (CH1)0 : OUT/DIR1 : CW/CCW2 : 1x AB-Phase3 : 2x AB-Phase0
4 : 4x AB-Phase
0x0ATG_EZ0_CLEAR_ENEnable EZ clear (CH0)0 : Disable1 : Enable0
0x0BTG_EZ1_CLEAR_ENEnable EZ clear (CH1)0 : Disable1 : Enable0
0x0CTG_EZ0_CLEAR_LOGICClear logic setting (CH0)0 : Falling edge1 : Rising edge0
0x0DTG_EZ1_CLEAR_LOGICClear logic setting (CH1)0 : Falling edge1 : Rising edge0
0x0ETG_CNT0_SOURCESet counter's source (CH0)0 : Encoder0(Carrier Board EA/B 0)1 : Encoder1(Carrier Board EA/B 1)2 : Encoder2(Daughter Board DEA/B 2)3 : Encoder3(Daughter Board DEA/B 3)4 : Timer05 : Timer10x2
0x0FTG_CNT1_SOURCESet counter's source (CH1)0 : Encoder0(Carrier Board EA/B 0)1 : Encoder1(Carrier Board EA/B 1)2 : Encoder2(Daughter Board DEA/B 2)3 : Encoder3(Daughter Board DEA/B 3)4 : Timer05 : Timer10x3
0x10TG_FTR0_ENFilter enable (CH0)0 : Disable1 : Enable0
0x11TG_FTR1_ENFilter enable (CH1)0 : Disable1 : Enable0
0x12TG_DI_LATCH0_ENEnable DI LATCH (CH0)0 : Disable0
1 : Enable
0x13TG_DI_LATCH1_ENEnable DI LATCH (CH1)0 : Disable1 : Enable0
0x14TG_DI_LATCH0_EDGESet DI LATCH condition (CH0)0 : DI falling edge to latch1 : DI Rising edge to latch0
0x15TG_DI_LATCH1_EDGESet DI LATCH condition (CH1)0 : DI falling edge to latch1 : DI Rising edge to latch0
0x16TG_DI_LATCH0_VALUEGet DI Latch Value (CH0)
0x17TG_DI_LATCH1_VALUEGet DI Latch Value (CH1)
0x18TG_TRGOUT_MAPSet Trigger Out Mapping0~65535(Bit16~Bit31 reserved)*Note(1)0x9
0x19TG_TRGOUT_LOGICSet Trigger Out Logic0~255(Bit8~Bit31 reserved)*Note(2)0
0x1ATG_FIFO_LEVELSet/Get FIFO size Level0 : level=0 (empty)1 : level=1/42 : level=1/2 (default)3 : level=3/4Note :Only Support CH00
0x1BTG_PWM0_SOURCESet PWM Source (CH0)Bit 0 : Timer0 : Disable1 : EnableBit 1 : Linear comparator0 : Disable1 : EnableBit 2 : FIFO comparator0 : Disable1 : EnableOther bits reserved0x4(FIFO comparator)
Note :FIFO comparator OnlySupport CH0
0x1CTG_PWM1_SOURCESet PWM Source (CH1)Bit 0: Timer0: Disable1: EnableBit 1: Linear comparator0: Disable1: EnableBit 2: FIFO comparator0: Disable1: EnableOther bits reservedNote :FIFO comparator OnlySupport CH00x4(FIFO comparator)
*Note(1)
Bit76543210
FunctionTRG3bTRG3aTRG2bTRG2aTRG1bTRG1aTRG0bTRG0a
Bit15141312111098
FunctionTRG7bTRG7aTRG6bTRG6aTRG5bTRG5aTRG4bTRG4a
The DB-8150 has 8 trigger output pins and 2 channel of PWM.By this function, the trigger output pins can be mapped with 2 channel of PWM.The symbol TRG0 ~ TRG7 representing pin0~pin7 of trigger output pins.The "a" symbol represent PWM0.The "b" symbol represent PWM1.For example :TRG0a=1 represent the PWM0 signal will be output by trigger output pin0.TRG0a=0 represent the PWM0 signal will not be output by trigger output pin0.if TRG0a and TRG0b are set to 1 at the same time,the pin0 will output signal by PWM0 and PWM1 making OR operator.
*Note(2)
Bit76543210
FunctionTRGInv7TRGInv6TRGInv5TRGInv4TRGInv3TRGInv2TRGInv1TRGInv0
This parameter is used to set the logic of trigger output signal.For example :TRGInv0=1 represent the trigger output signal will be inversed by pin0.
TRGInv0=0 represent the trigger output signal will not be inversed by pin0. PCI – C154(+) Trigger parameter table
NODefineDescriptionValueDefault :
0x00TIG_ENC_IPT_MODE0Encoder pulse input mode (CH0)0 : OUT/DIR(EA = Out, EB = Dir)1 : CW/CCW(EA = CW, EB = CCW)2 : 1x AB-Phase03 : 2x AB-Phase4 : 4x AB-Phase4
0x01TIG_ENC_IPT_MODE1Encoder pulse input mode (CH1)0 : OUT/DIR(EA = Out, EB = Dir)1 : CW/CCW(EA = CW, EB = CCW)2 : 1x AB-Phase03 : 2x AB-Phase4 : 4x AB-Phase4
0x02TIG_ENC_IPT_MODE2Encoder pulse input mode (CH2)0 : OUT/DIR(EA = Out, EB = Dir)1 : CW/CCW(EA = CW, EB = CCW)2 : 1x AB-Phase03 : 2x AB-Phase4 : 4x AB-Phase4
0x03TIG_ENC_IPT_MODE3Encoder pulse input mode (CH3)0 : OUT/DIR(EA = Out, EB = Dir)1 : CW/CCW(EA = CW, EB = CCW)2 : 1x AB-Phase03 : 2x AB-Phase4 : 4x AB-Phase4
0x08TIG_ENC_EA_INV0Invert EA encoder signal (CH0) Note(3)1 : Inverse0 : Not Inverse0
0x09TIG_ENC_EA_INV1Invert EA encoder signal (CH1) Note(3)1 : Inverse0 : Not Inverse0
0x0ATIG_ENC_EA_INV2Invert EA encoder signal (CH2) Note(3)1 : Inverse0 : Not Inverse0
0x0BTIG_ENC_EA_INV3Invert EA encoder signal (CH3) Note(3)1 : Inverse0 : Not Inverse0
0x10TIG_ENC_EB_INV0Invert EB encoder signal (CH0) Note(3)1 : Inverse0 : Not Inverse0
0x11TIG_ENC_EB_INV1Invert EB encoder signal (CH1) Note(3)1 : Inverse0 : Not Inverse0
0x12TIG_ENC_EB_INV2Invert EB encoder signal (CH2) Note(3)1 : Inverse0 : Not Inverse0
0x13TIG_ENC_EB_INV3Invert EB encoder signal (CH3) Note(3)1 : Inverse0 : Not Inverse0
0x28TIG_ENC_SIGNAL_FILITER_EN0CH0 encoder signalLow-Pass filter(Cutoff(3db)Frequency: 5MHz )1 : Enable0 : Disable1
0x29TIG_ENC_SIGNAL_FILITER_EN1CH1 encoder signalLow-Pass filter(Cutoff(3db)Frequency: 5MHz )1 : Enable0 : Disable1
0x2ATIG_ENC_SIGNAL_FILITER_EN2CH2 encoder signalLow-Pass filter(Cutoff(3db)Frequency: 5MHz )1 : Enable0 : Disable1
0x2BTIG_ENC_SIGNAL_FILITER_EN3CH3 encoder signalLow-Pass filter(Cutoff(3db)Frequency: 5MHz )1 : Enable0 : Disable1
0x30TIG_TIMER8_DIRTimer8 directionNote (1)0 : Positive count1 : Negative count0
0x31TIG_TIMER8_ITVTimer8 IntervalNote (1)Timer8 Interval (sec)= Value * 30nS0
0x32TIG_CMP0_SRCCompare CH0 source0 : Encoder counter01 : Timer 8 counterNote(1)0
0x33TIG_CMP1_SRCCompare CH1 source0 : Encoder counter11 : Timer 8 counter Note(1)0
0x34TIG_CMP2_SRCCompare CH2 source0 : Encoder counter 21 : Timer 8 counter Note(1)0
0x35TIG_CMP3_SRCCompare CH3 source0 : Encoder counter 31 : Timer 8 counter Note(1)0
0x42TIG_TRGOUT0_MAPTrigger Output Pin (CH0) Mapping0 : Output_Pin_01 : Output_Pin_12 : Output_Pin_23 : Output_Pin_30
0x43TIG_TRGOUT1_MAPTrigger Output Pin (CH1) Mapping0 : Output_Pin_01 : Output_Pin_12 : Output_Pin_23 : Output_Pin_30
0x44TIG_TRGOUT2_MAPTrigger Output Pin (CH2) Mapping0 : Output_Pin_01 : Output_Pin_12 : Output_Pin_23 : Output_Pin_30
0x45TIG_TRGOUT3_MAPTrigger Output Pin (CH3) Mapping0 : Output_Pin_01 : Output_Pin_12 : Output_Pin_23 : Output_Pin_30
0x4ATIG_TRGOUT0_LOGICTrigger Output Pin (CH0) Logic0 : Not inverse1 : Inverse0
0x4BTIG_TRGOUT1_LOGICTrigger Output Pin (CH1) Logic0 : Not inverse1 : Inverse0
0x4CTIG_TRGOUT2_LOGICTrigger Output Pin (CH2) Logic0 : Not inverse1 : Inverse0
0x4DTIG_TRGOUT3_LOGICTrigger Output Pin (CH3) Logic0 : Not inverse1 : Inverse0
0x52TIG_PWM0_PULSE_WIDTHPWM pulse width (CH0)PWM pulse width (sec) = Value * 480nS + 60nSValue range : 1~81912
0x53TIG_PWM1_PULSE_WIDTHPWM pulse width (CH1)PWM pulse width (sec) = Value * 480nS + 60nSValue range : 1~81912
0x54TIG_PWM2_PULSE_WIDTHPWM pulse width (CH2)PWM pulse width (sec) = Value * 480nS + 60nSValue range : 1~81912
0x55TIG_PWM3_PULSE_WIDTHPWM pulse width (CH3)PWM pulse width (sec) = Value * 480nS + 60nSValue range : 1~81912
0x5ATIG_PWM0_MODESelect the pulse output or level switch output (CH0)0: Pulse output1: Level switch output (toggle output)0
0x5BTIG_PWM1_MODESelect the pulse output or level switch output (CH1)0: Pulse output1: Level switch output (toggle output)0
0x5CTIG_PWM2_MODESelect the pulse output or level switch output (CH2)0: Pulse output1: Level switch output (toggle output)0
0x5DTIG_PWM3_MODESelect the pulse output or level switch output (CH3)0: Pulse output1: Level switch output (toggle output)0
0x62TIG_TIMER0_ITVTimer0 Interval (Write Only) Note(2)Timer0 Interval Value(sec)= Value * 30nS0
0x63TIG_TIMER1_ITVTimer1 Interval (Write Only) Note(2)Timer1 Interval Value(sec)= Value * 30nS0
0x64TIG_TIMER2_ITVTimer2 Interval (Write Only) Note(2)Timer2 Interval Value(sec)= Value * 30nS0
0x65TIG_TIMER3_ITVTimer3 Interval (Write Only) Note(2)Timer3 Interval Value(sec)= Value * 30nS0
0x6ATIG_FIFO_LEVEL0FIFO Comparator (CH0) LevelFIFO Comparator (CH0) Level Value (0~1023)0
0x6BTIG_FIFO_LEVEL1FIFO Comparator (CH1) LevelFIFO Comparator (CH1) Level Value (0~1023)0
0x6CTIG_FIFO_LEVEL2FIFO Comparator (CH2) LevelFIFO Comparator (CH2) Level Value (0~1023)0
0x6DTIG_FIFO_LEVEL3FIFO Comparator (CH3) LevelFIFO Comparator (CH3) Level Value (0~1023)0
0x72TIG_OUTPUT_EN0Trigger output pin enable (CH0)0 : Disable1 : Enable1
0x73TIG_OUTPUT_EN1Trigger output pin enable (CH1)0 : Disable1 : Enable1
0x74TIG_OUTPUT_EN2Trigger output pin enable (CH2)0 : Disable1 : Enable1
0x75TIG_OUTPUT_EN3Trigger output pin enable (CH3)0 : Disable1 : Enable1
Note (1) The timer 8 is used to simulate for encoder. It is used to be comparator source for 4 channels. Note (2) Timer 0 \~ 3 are used to generate trigger signal periodically. Note (3) When user change EA/EB logic once, the encoder counter will count once. EMX-100 Trigger parameter table
NODefineDescriptionValueDefault :
0x00TGR0_CMP_SRCSet axis 0 compare source using encoder or command position0 :command position1 : encoder1
0x01TGR1_CMP_SRCSet axis 1 compare source using encoder or command position0 :command position1 : encoder1
0x02TGR0_CMP_CONDSet axis 0 compare condition0 : lager than & equal (>=)1 : large than(>)2 : equal (=)3 : less than(<)2
0x03TGR1_CMP_CONDSet axis 1 compare condition0 : lager than & equal (>=)1 : large than(>)2 : equal (=)3 : less than(<)2
0x04TGR0_CMP_VALUESet axis 0 single comparator value or linear comparator start point by compare trigger modeInteger value100
0x05TGR1_CMP_VALUESet axis 1 single comparator value or linear comparator start point by compare trigger modeInteger value100
0x06TGR0_PULSE_WIDTHSet axis 0 output pulse width0 : 64 usec,1 : 256 usec,2 : 1 MSec0
0x07TGR1_PULSE_WIDTHSet axis 1 output pulse width0 : 64 usec,1 : 256 usec,2 : 1 MSec0
0x08TGR0_PULSE_LOGICSet axis 0 pulse output logic0 : Active low1 : Active high0
0x09TGR1_PULSE_LOGICSet axis 1 pulse output logic0 : Active low1 : Active high0
0x0ATGR0_CMP_ENEnable axis 0 compare trigger function; The output signal is generated via TRG1 pin when compare condition is TRUE0 : disable1 : enable0
0x0BTGR1_CMP_ENEnable axis 1 compare trigger function; The output signal is generated via TRG2 pin when compare condition is TRUE0 : disable1 : enable0
0x0CTGR0_CMP_MODESet axis 0 compare trigger mode0 : single compare1 : linear comapre0
0x0DTGR1_CMP_MODESet axis 1 compare trigger mode0 : single compare1 : linear comapre0
0x0ETGR0_LCMP_INTERSet axis 0 linear compare tigger inverval (pulse)Integer value0
0x0FTGR1_LCMP_INTERSet axis 1 linear compare tigger inverval (pulse)Integer value0
0x10TGR0_LCMP_RETIMESet axis 0 linear compare tigger repeat timesInteger value0
0x11TGR1_LCMP_RETIMESet axis 1 linear compare tigger repeat timesInteger value0
Note 1： Here is a simple example as below. The real trigger count includes start point. Trigger count = Repeat time + 1 Linear compare trigger ,for instance Source = 1 (command), Condition = 1(large than) Start point = 1000, Interval = 100 pulse, Active high,Pulse width = 1ms, Repeat time = 9 ![| Time Segment | Pulse Label |\n| ------------ | ------------------------------- |\n| Start | 1 ms |\n| End | 1900 pulse |\n| Trigger | 10 (include start point) |](.aps-functionlibrary-v2-1/88ccbde5dba36728a95f0d979125fd025bed89703a05b124225992437dc77544.jpg) Note 2： When finish all triggering point, user must configure and enable again for functioning it. Note 3： The maximum compare trigger frequency supports 500 Hz, if user configure maximum speed 4M pps,the interval should be large than 8000(4000000/500) pulse PCI-8254/58 / AMP-204/8C Trigger parameter table
NODefineDescriptionValueDefault :
0x00TGR_LCMP0_SRCLinear compare 0 (LCMP0) source0 ~ 7 : Encoder counter0~78 : Timer 0 counter9 : Disable9
0x01TGR_LCMP1_SRCLinear compare 1 (LCMP1) source0 ~ 7 : Encoder counter0~78 : Timer 0 counter9 : Disable9
0x02TGR_TCMP0_SRCTable compare 0 (TCMP0) source0 ~ 7 : Encoder counter0~78 : Timer 0 counter9 : Disable9
0x03TGR_TCMP1_SRCTable compare 1 (TCMP1) source0 ~ 7 : Encoder counter0~78 : Timer 0 counter9 : Disable9
0x04TGR_TCMP0_DIRTable compare 0 (TCMP0) direction0 : Negative direction1 : Positive direction2 : Bi-direction(No direction)0
0x05TGR_TCMP1_DIRTable compare 1 (TCMP1) direction0 : Negative direction1 : Positive direction2 : Bi-direction(No direction)0
0x06TGR_TRG_ENTRG 0 ~ 3 enable by bitNOTE : This parameter is also controlled by board parameter "PWMx map DO" and "VAO table" functions.Bit x : (0 : disable, 1 : enable)Bit 0 : TRG0 enableBit 1 : TRG1 enableBit 2 : TRG2 enableBit 3 : TRG3 enable0
0x10TGR_TRG0_SRCTrigger output 0 (TRG0) sourceNote : OR multi-sources, then output to TRG0 )Bit x : (1 : On, 0 : Off )Bit 0 : Manual0Bit 1 : ReservedBit 2 : FCMP0Bit 3 : FCMP1Bit 4 : LCMP0Bit 5 : LCMP1Bit 6 : MCMPBit 7 : FCMP2Bit 8 : FCMP3Bit 9 LCMP2Bit 10 LCMP30
0x11TGR_TRG1_SRCTrigger output 1 (TRG1) sourceNote : OR multi-sources, then output to TRG0 )Bit x : (1 : On, 0 : Off)Bit 0 : Manual0Bit 1 : ReservedBit 2 : FCMP0Bit 3 : FCMP1Bit 4 : LCMP0Bit 5 : LCMP1Bit 6 : MCMPBit 7 : FCMP2Bit 8 : FCMP3Bit 9 LCMP2Bit 10 LCMP30
0x12TGR_TRG2_SRCTrigger output 2 (TRG2) sourceNote : OR multi-sources, then output to TRG0 )Bit x : (1 : On, 0 : Off)Bit 0 : Manual0Bit 1 : ReservedBit 2 : FCMP0Bit 3 : FCMP1Bit 4 : LCMP0Bit 5 : LCMP1Bit 6 : MCMPBit 7 : FCMP2Bit 8 : FCMP3Bit 9 LCMP2Bit 10 LCMPC30
0x13TGR_TRG3_SRCTrigger output 3 (TRG3) sourceNote : OR multi-sources, then output to TRG0 )Bit x : (1 : On, 0 : Off)Bit 0 : Manual0Bit 1 : ReservedBit 2 : FCMP0Bit 3 : FCMP1Bit 4 : LCMP0Bit 5 : LCMP1Bit 6 : MCMPBit 7 : FCMP2Bit 8 : FCMP3Bit 9 LCMP2Bit 10 LCMP30
0x14TGR_TRG0_PWDTRG0 pulse widthPulse Width = (N-1)*20nsN = 2 ~ 0xfffff11
0x15TGR_TRG1_PWDTRG1 pulse widthPulse Width = (N-1)*20nsN = 2 ~ 0xfffff11
0x16TGR_TRG2_PWDTRG2 pulse widthPulse Width = (N-1)*20nsN = 2 ~ 0xfffff11
0x17TGR_TRG3_PWDTRG3 pulse widthPulse Width = (N-1)*20nsN = 2 ~ 0xfffff11
0x18TGR_TRG0_LOGICTRG 0 logic0 : Not inverse1 : Inverse0
0x19TGR_TRG1_LOGICTRG 1 logic0 : Not inverse1 : Inverse0
0x1ATGR_TRG2_LOGICTRG 2 logic0 : Not inverse1 : Inverse0
0x1BTGR_TRG3_LOGICTRG 3 logic0 : Not inverse1 : Inverse0
0x1CTGR_TRG0_TGLTRG 0 toggle mode0 : Pulse out1 : Toggle out0
0x1DTGR_TRG1_TGLTRG 1 toggle mode0 : Pulse out1 : Toggle out0
0x1ETGR_TRG2_TGLTRG 2 toggle mode0 : Pulse out1 : Toggle out0
0x1FTGR_TRG3_TGLTRG 3 toggle mode0 : Pulse out1 : Toggle out0
0x20TIMR_ITVTimer IntervalTimer Interval = N * 100 nsN = 1~ 536870911(100 ns)
0x21TIMR_DIRTimer direction0 : Positive count1 : Negative count0
0x22TIMR_RING_ENEnable timer counter to be as Ring counter0 : Disable(0x7ffffff+1→0x80000000)(0x80000001-1→0x80000000)1 : Enable(0x7ffffff+1→0x00000000)(0x00000000-1→0x7ffffff)0
0x23TIMR_ENTimer enable0: Disable, 1: Enable0
0x30TGR_MCMP0_SRCMulti-axis comparator 0(MCMP0) source0~7: Encoder counter0~78: Timer 0 counter9: Disable9
0x31TGR_MCMP1_SRCMulti-axis comparator 1(MCMP1) source0~7: Encoder counter0~78: Timer 0 counter9: Disable9
0x32TGR_MCMP2_SRCMulti-axis comparator 2(MCMP2) source0~7: Encoder counter0~78: Timer 0 counter9: Disable9
0x33TGR_MCMP3_SRCMulti-axis comparator 3(MCMP3) source0~7: Encoder counter0~78: Timer 0 counter9: Disable9
0x34TGR_MCMP_MODEMode to decide when multi-axis comparator can trigger PWM0: original mode:when motor reaches boundary defined by window1: precision mode:when motor is inside boundary defined by window and the position deviation relative to compared point is shortest0
0x35TGR_TRG0_TOGGLE_MODEEnable this mode to allow user to set the status of the trigger out pin. NOTE:This mode will affect other FPGA modules such that Compare trigger.0: disable1: enable0
0x36TGR_TRG1_TOGGLE_MODESame as above0: disable1: enable0
0x37TGR_TRG2_TOGGLE_MODESame as above0: disable1: enable0
0x38TGR_TRG3_TOGGLE_MODESame as above0 : disable1 : enable0
0x39TGR_TRG0_TOGGLE_STATUSWrite and read the Toggle output status0 : output low1 : output high0
0x3ATGR_TRG1_TOGGLE_STATUSSame as above0 : output low1 : output high0
0x3BTGR_TRG2_TOGGLE_STATUSSame as above0 : output low1 : output high0
0x3CTGR_TRG3_TOGGLE_STATUSSame as above0 : output low1 : output high0
0x40TGR_TCMP2_SRCTable compare 2 (TCMP2) source0 ~ 7 : Encoder counter0~78 : Timer 0 counter9 : Disable9
0x41TGR_TCMP3_SRCTable compare 3 (TCMP3) source0 ~ 7 : Encoder counter0~78 : Timer 0 counter9 : Disable9
0x42TGR_TCMP2_DIRTable compare 2 (TCMP2) direction0 : Negative direction1 : Positive direction2 : Bi-direction(No direction)0
0x43TGR_TCMP3_DIRTable compare 3 (TCMP3) direction0 : Negative direction1 : Positive direction2 : Bi-direction(No direction)0
0x44TGR_LCMP2_SRCLinear compare 2 (LCMP2) source0 ~ 7 : Encoder counter0~78 : Timer 0 counter9 : Disable9
0x45TGR_LCMP3_SRCLinear compare 3 (LCMP3) source0 ~ 7 : Encoder counter0~78 : Timer 0 counter9 : Disable9
# ECAT-4XMO/ECAT-4XMO-MT, ECAT-TRG4/ECAT-TRG4-MT Trigger parameter table
NODefineDescriptionValueDefault :
0x00TGR_LCMP0_SRCLinear compare 0 (LCMP0) source0 ~ 3 : Encoder counter0~34 : Timer 0 counter5 : Disable0
0x01TGR_LCMP1_SRCLinear compare 1 (LCMP1) source0 ~ 3 : Encoder counter0~34 : Timer 0 counter5 : Disable0
0x02TGR_TCMP0_SRCTable compare 0 (TCMP0) source0 ~ 3 : Encoder counter0~34 : Timer 0 counter5 : Disable0
0x03TGR_TCMP1_SRCTable compare 1 (TCMP1) source0 ~ 3 : Encoder counter0~34 : Timer 0 counter5 : Disable0
0x04TGR_TCMP0_DIRTable compare 0 (TCMP0) direction0 : Negative direction1 : Positive direction2 : Bi-direction(No direction)2
0x05TGR_TCMP1_DIRTable compare 1 (TCMP1) direction0 : Negative direction1 : Positive direction2 : Bi-direction(No direction)2
0x06TGR_TRG_ENTRG 0 ~ 3 enable by bitBit x : (0 : disable, 1 : enable)Bit 0 : TRG0 enable,PWM pulse out0 enable.Bit 1 : TRG1 enable, PWM pulse out1 enable.Bit 2 : TRG2 enable,PWM pulse out2 enable.Bit 3: TRG3 enable, PWM pulse out3 enable.0
0x07TGR_TCMP0_REUSETable compare 0 (TCMP0) compare data reuse function enable.0: Disable reuse function.1: Enable reuse function.NOTE: Must make sure comparison is not running before using.0
0x08TGR_TCMP1_REUSETable compare 1(TCMP1) compare data reuse function enable.0: Disable reuse function.1: Enable reuse function.NOTE: Must make sure comparison is not running before using.0
0x09TGR_TCMP0_TRANSFER_DONETable compare 0(TCMP0) data transfer done status.-1: Not in using.0: Transfer not finish.1: Transfer finish.Be attention: Transfer finish status is read clear status. Status will be "-1" -> "0"... data transfer... -> "1" (By user program read) -> "-1".-1
0x0ATGR_TCMP1_TRANSFER_DONETable compare 1(TCMP1) data transfer done status.-1: Not in using.0: Transfer not finish.1: Transfer finish.Be attention: Transfer finish status is read clear status. Status will be "-1" -> "0"... data transfer... -> "1" (By user program read) -> "-1".-1
0x0DTGR_MTCMP0_TRANSFER_DONE(MT product support only)Multi table compare 0(MTCMP0) data transfer done status.-1: Not in using.0: Transfer not finish.1: Transfer finish.Be attention: Transfer finish status is read clear status. Status will be "-1"--> "0"... data transfer... -> "1" (By user program read) -> "-1".-1
0x10TGR_TRG0_SRCTrigger output 0(TRG0) sourceNote: OR multi-sources, then output to TRG0)Bit x: (1: On, 0: Off)Bit 0: Manual0Bit 1: ReservedBit 2: TCMP0Bit 3: TCMP1Bit 4: LCMP0Bit 5: LCMP1Bit 6: MCMP(MT product support only)Bit 7: TCMP2Bit 8: TCMP3Bit 9: LCMP2Bit 10: LCMP30
0x11TGR_TRG1_SRCTrigger output 1 (TRG1) sourceNote: OR multi-sources, then output to TRG0)Bit x: (1: On, 0: Off)Bit 0: Manual0Bit 1: ReservedBit 2: TCMP0Bit 3: TCMP1Bit 4: LCMP0Bit 5: LCMP1Bit 6: MCMP(MT product support only)Bit 7: TCMP2Bit 8: TCMP3Bit 9: LCMPP2Bit 10: LCMP30
0x12TGR_TRG2_SRCTrigger output 2(TRG2) sourceNote: OR multi-sources, then output to TRG0)Bit x : (1 : On, 0 : Off)Bit 0 : Manual0Bit 1 : ReservedBit 2 : TCMP0Bit 3 : TCMP1Bit 4 : LCMP0Bit 5 : LCMP1Bit 6 : MCMP(MT product support only)Bit 7 : TCMP2Bit 8 : TCMP3Bit 9 : LCMP2Bit 10 : LCMP30
0x13TGR_TRG3_SRCTrigger output 3(TRG3) sourceNote: OR multi-sources, then output to TRG0)Bit x : (1 : On, 0 : Off)Bit 0 : Manual0Bit 1 : ReservedBit 2 : TCMP0Bit 3 : TCMP1Bit 4 : LCMP0Bit 5 : LCMP1Bit 6 : MCMP(MT product support only)Bit 7 : TCMP2Bit 8 : TCMP3Bit 9 : LCMPP2Bit 10 : LCMP30
0x14TGR_TRG0_PWDTRG0 pulse widthPulse Width = (N-1)*20nsN = 2 ~ 0xfffff11
0x15TGR_TRG1_PWDTRG1 pulse widthPulse Width = (N-1)*20nsN = 2 ~ 0xfffff11
0x16TGR_TRG2_PWDTRG2 pulse widthPulse Width = (N-1)*20nsN = 2 ~ 0xfffff11
0x17TGR_TRG3_PWDTRG3 pulse widthPulse Width = (N-1)*20nsN = 2 ~ 0xfffff11
0x18TGR_TRG0_LOGICTRG 0 logic0 : Not inverse1 : Inverse0
0x19TGR_TRG1_LOGICTRG 1 logic0 : Not inverse1 : Inverse0
0x1ATGR_TRG2_LOGICTRG 2 logic0: Not inverse1: Inverse0
0x1BTGR_TRG3_LOGICTRG 3 logic0: Not inverse1: Inverse0
0x1CTGR_TRG0_TGLTRG 0 toggle mode0: Pulse out1: Toggle out0
0x1DTGR_TRG1_TGLTRG 1 toggle mode0: Pulse out1: Toggle out0
0x1ETGR_TRG2_TGLTRG 2 toggle mode0: Pulse out1: Toggle out0
0x1FTGR_TRG3_TGLTRG 3 toggle mode0: Pulse out1: Toggle out0
0x20TIMR_ITVTimer IntervalTimer Interval = N * 40 nsN = 1~ 1073741821(40 ns)
0x21TIMR_DIRTimer direction0: Positive count1: Negative count0
0x22TIMR_RING_ENEnable timer counter to be as Ring counter0: Disable(0x7fffffff+1→0x80000000) (0x80000001-1→0x80000000)1: Enable(0x7fffffff+1→0x00000000)(0x00000000-1→0x7ffffff)0
0x23TIMR_ENTimer enable0: Disable, 1: Enable0
0x30TGR_MCMP0_SRC(MT product support only)Multi-axis comparator0 (MCMP0) source0 ~ 3: Encoder counter0~34: Timer 0 counter5: Disable0
0x31TGR_MCMP1_SRC(MT product support only)Multi-axis comparator1 (MCMP1) source0 ~ 3: Encoder counter0~34: Timer 0 counter5: Disable0
0x34TGR_MCMP_MODE(MT product support only)Mode to decide when multi-axis comparator can trigger PWM0: original mode:when motor reaches boundary defined by window1: precision mode: when motor is inside boundary defined by window and the position deviation relative to compared point is shortest0
0x40TGR_TCMP2_SRC(MT product DO NOT support)Table compare 2(TCMP2) source0 ~ 3: Encoder counter0~34: Timer 0 counter5: Disable0
0x41TGR_TCMP3_SRC(MT product DO NOT support)Table compare 3(TCMP3) source0 ~ 3: Encoder counter0~34: Timer 0 counter5: Disable0
0x42TGR_TCMP2_DIR(MT product DO NOT support)Table compare 2(TCMP2) direction0: Negative direction1: Positive direction2: Bi-direction(No direction)2
0x43TGR_TCMP3_DIR(MT product DO NOT support)Table compare 3(TCMP3) direction0: Negative direction1: Positive direction2: Bi-direction(No direction)2
0x44TGR_LCMP2_SRCLinear compare 2(LCMP2) source0 ~ 3: Encoder counter0~34: Timer 0 counter5: Disable0
0x45TGR_LCMP3_SRCLinear compare 3(LCMP3) source0 ~ 3: Encoder counter0~34: Timer 0 counter5: Disable0
0x46TGR_TCMP2_REUSE(MT product DO NOT support)Table compare 2(TCMP2) compare data reuse function enable.0: Disable reuse function.1: Enable reuse function.NOTE: Must make sure comparison is not running before using.0
0x47TGR_TCMP3_REUSE(MT product DO NOT support)Table compare 3(TCMP3) compare data reuse function enable.0: Disable reuse function.1: Enable reuse function.NOTE: Must make sure comparison is not running before using.0
0x48TGR_TCMP2_TRANSFER_DONE(MT product DO NOT support)Table compare 2(TCMP2) data transfer done status.-1: Not in using.0: Transfer not finish.1: Transfer finish.Be attention: Transfer finish status is read clear status. Status will be "-1" -> "0"... data transfer... -> "1" (By user program read) -> "-1".-1
0x49TGR_TCMP3_TRANSFER_DONE(MT product DO NOT support)Table compare 2(TCMP3) data transfer done status.-1: Not in using.0: Transfer not finish.1: Transfer finish.Be attention: Transfer finish status is read clear status. Status will be "-1" -> "0"... data transfer... -> "1" (By user program read) -> "-1".-1
0x50TGR_CMP_EXTENC0_SRCSet external encoder 0 source Axis ID. Only could set on same 833x master card slave servo motor has encoder pulse output function(ECAT-TRG4/ECAT-TRG4-MT only)0 ~ 65535: Axis ID0
0x51TGR_CMP_EXTENC1 SRCSet external encoder 1 source Axis ID. Only could set on same 833x master card slave servo motor has encoder pulse output function (ECAT-TRG4/ECAT-TRG4-MT only)0 ~ 65535 : Axis ID0
0x52TGR_CMP_EXTENC2 SRCSet external encoder 2 source Axis ID. Only could set on same 833x master card slave servo motor has encoder pulse output function (ECAT-TRG4/ECAT-TRG4-MT only)0 ~ 65535 : Axis ID0
0x53TGR_CMP_EXTENC3 SRCSet external encoder 3 source Axis ID. Only could set on same 833x master card slave servo motor has encoder pulse output function (ECAT-TRG4/ECAT-TRG4-MT only)0 ~ 65535 : Axis ID0
AMP-304C Trigger parameter table
NODefineDescriptionValueDefault :
0x00TGR_LCMP0_SRCLinear compare 0 (LCMP0) source0 ~ 3 : Pulse counter0~38 : Timer 0 counter9 : Disable9
0x01TGR_LCMP1_SRCLinear compare 1 (LCMP1) source0 ~ 3 : Pulse counter0~38 : Timer 0 counter9 : Disable9
0x02TGR_TCMP0_SRCTable compare 0 (TCMP0) source0 ~ 3 : Pulse counter0~38 : Timer 0 counter9 : Disable9
0x03TGR_TCMP1_SRCTable compare 1 (TCMP1) source0 ~ 3 : Pulse counter0~38 : Timer 0 counter9 : Disable9
0x04TGR_TCMP0_DIRTable compare 0 (TCMP0) direction0 : Negative direction1 : Positive direction2 : Bi-direction(No direction)1
0x05TGR_TCMP1_DIRTable compare 1 (TCMP1) direction0 : Negative direction1 : Positive direction2 : Bi-direction(No direction)1
0x06TGR_TRG_ENTRG 0 ~ 3 enable by bitBit x : (0 : disable, 1 : enable)Bit 0 : TRG0 enable,PWM pulse out0 enable.Bit 1 : TRG1 enable, PWM pulse out1 enable.Bit 2 : TRG2 enable,PWM pulse out2 enable.Bit 3 : TRG3 enable,PWM pulse out3 enable.(Note 2)0
0x07TGR_TCMP0_REUSETable compare 0(TCMP0) compare data reuse function enable.0: Disable reuse function.1: Enable reuse function.NOTE: Must make sure comparison is not running before using.0
0x08TGR_TCMP1_REUSETable compare 1(TCMP1) compare data reuse function enable.0: Disable reuse function.1: Enable reuse function.NOTE: Must make sure comparison is not running before using.0
0x09TGR_TCMP0_TRANSFER_DONETable compare 0(TCMP0) data transfer done status.-1: Not in using.0: Transfer not finish.1: Transfer finish.Be attention: Transfer finish status is read clear status. Status will be "-1" -> "0"... data transfer... -> "1" (By user program read) -> "-1".-1
0x0ATGR_TCMP1_TRANSFER_DONETable compare 1(TCMP1) data transfer done status.-1: Not in using.0: Transfer not finish.1: Transfer finish.Be attention: Transfer finish status is read clear status. Status will be "-1" -> "0"... data transfer... -> "1" (By user program read) -> "-1".-1
0x10TGR_TRG0_SRCTrigger output 0(TRG0) sourceNote: OR multi-sources, then output to TRG0)Bit x: (1: On, 0: Off)Bit 0: Manual0Bit 1: ReservedBit 2: ReservedBit 3: ReservedBit 4 : LCMP0Bit 5 : LCMP1Bit 6 : ReservedBit 7 : ReservedBit 8 : LCMP2Bit 9 : LCMP30
0x11TGR_TRG1_SRCTrigger output 1 (TRG1) sourceNote : OR multi-sources, then output to TRG1 )Bit x : (1 : On, 0 : Off )Bit 0 : Manual0Bit 1 : ReservedBit 2 : ReservedBit 3 : ReservedBit 4 : LCMP0Bit 5 : LCMP1Bit 6 : ReservedBit 7 : ReservedBit 8 : LCMP2Bit 9 : LCMP30
0x12TGR_TRG2_SRCTrigger output 2 (TRG2) sourceNote : OR multi-sources, then output to TRG2 )Bit x : (1 : On, 0 : Off )Bit 0 : Manual0Bit 1 : ReservedBit 2 : ReservedBit 3 : ReservedBit 4 : LCMP0Bit 5 : LCMP1Bit 6 : ReservedBit 7 : ReservedBit 8 : LCMP2Bit 9 : LCMP30
0x13TGR_TRG3_SRCTrigger output 3 (TRG3) sourceNote : OR multi-sources, then output to TRG3 )Bit x : (1 : On, 0 : Off )Bit 0 : Manual0Bit 1 : ReservedBit 2 : ReservedBit 3 : ReservedBit 4 : LCMP0Bit 5 : LCMP1Bit 6 : ReservedBit 7 : ReservedBit 8 : LCMP2Bit 9 : LCMP30
0x14TGR_TRG0_PWDTRG0 pulse widthPulse Width = N*8nsN = 1 ~ 16777214(0xfffffe)Maximum is 0.134217712 seconds17
0x15TGR_TRG1_PWDTRG1 pulse widthPulse Width = N*8nsN = 1 ~ 16777214(0xfffffe)Maximum is 0.134217712 seconds17
0x16TGR_TRG2_PWDTRG2 pulse widthPulse Width = N*8nsN = 1 ~ 16777214(0xfffffe)Maximum is 0.134217712 seconds17
0x17TGR_TRG3_PWDTRG3 pulse widthPulse Width = N*8nsN = 1 ~ 16777214(0xfffffe)Maximum is 0.134217712 seconds17
0x18TGR_TRG0_LOGICTRG0 logic0 : Not inverse1 : Inverse0
0x19TGR_TRG1_LOGICTRG1 logic0 : Not inverse1 : Inverse0
0x1ATGR_TRG2_LOGICTRG2 logic0 : Not inverse1 : Inverse0
0x1BTGR_TRG3_LOGICTRG3 logic0 : Not inverse1 : Inverse0
0x1CTGR_TRG0_TGLTRG0 toggle mode0 : Pulse out1 : Toggle out0
0x1DTGR_TRG1_TGLTRG1 toggle mode0 : Pulse out1 : Toggle out0
0x1ETGR_TRG2_TGLTRG2 toggle mode0 : Pulse out1 : Toggle out0
0x1FTGR_TRG3_TGLTRG3 toggle mode0: Pulse out1: Toggle out0
0x20TIMR_ITVTimer IntervalTimer Interval = (N+2)*8nsN = 0~268435455(0xffffff)0
0x21TIMR_DIRTimer direction0: Positive count1: Negative count0
0x22TIMR_RING_ENEnable timer counter to be as Ring counter0: Disable(0x7fffffff+1→0x80000000) (0x80000001-1→0x80000000)1: Enable(0x7fffffff+1→0x00000000)(0x00000000-1→0x7fffffff)0
0x23TIMR_ENTimer enable0: Disable, 1: Enable0
0x40TGR_TCMP2_SRCTable compare 2(TCMP2) source0 ~ 3: Pulse counter0~38: Timer 0 counter9: Disable9
0x41TGR_TCMP3_SRCTable compare 3(TCMP3) source0 ~ 3: Pulse counter0~38: Timer 0 counter9: Disable9
0x42TGR_TCMP2_DIRTable compare 2(TCMP2) direction0: Negative direction1: Positive direction2: Bi-direction(No direction)1
0x43TGR_TCMP3_DIRTable compare 3(TCMP3) direction0: Negative direction1: Positive direction2: Bi-direction(No direction)1
0x44TGR_LCMP2_SRCLinear compare 2(LCMP2) source0 ~ 3: Pulse counter0~38: Timer 0 counter9: Disable9
0x45TGR_LCMP3_SRCLinear compare 3 (LCMP3) source0 ~ 3 : Pulse counter0~38 : Timer 0 counter9 : Disable9
0x46TGR_TCMP2_REUSETable compare 2 (TCMP2) compare data reuse function enable.0 : Disable reuse function.1 : Enable reuse function.NOTE : Must make sure comparison is not running before using.0
0x47TGR_TCMP3_REUSETable compare 3(TCMP3) compare data reuse function enable.0 : Disable reuse function.1 : Enable reuse function.NOTE : Must make sure comparison is not running before using.0
0x48TGR_TCMP2_TRANSFER_DONETable compare 2(TCMP2) data transfer done status.-1 : Not in using.0 : Transfer not finish.1 : Transfer finish.Be attention : Transfer finish status is read clear status. Status will be "-1" -> "0"... data transfer... -> "1" (By user program read) -> "-1".-1
0x49TGR_TCMP3_TRANSFER_DONETable compare 2(TCMP3) data transfer done status.-1 : Not in using.0 : Transfer not finish.1 : Transfer finish.Be attention : Transfer finish status is read clear status. Status will be "-1" -> "0"... data transfer... -> "1" (By user program read) -> "-1".-1
0x50~0x53Reserved
0x54TGR_TRG0_MAPTrigger0 output could map to other DO, TTL DO, CMP in bitsbit 0~7 : Isolated DO 0~7 bit 8~11 : TTL DO 0~3 bit 12~15 : CMP 0~3 bit 16~19 : SD signal axis 0~3 (Note 1)0
0x55TGR_TRG1_MAPTrigger1 output could map to other DO, TTL DO, CMP in bitsbit 0~7 : Isolated DO 0~7 bit 8~11 : TTL DO 0~3 bit 12~15 : CMP 0~3 bit 16~19 : SD signal axis 0~3 (Note 1)0
0x56TGR_TRG2_MAPTrigger2 output could map to other DO, TTL DO, CMP in bitsbit 0~7 : Isolated DO 0~7 bit 8~11 : TTL DO 0~3 bit 12~15 : CMP 0~3 bit 16~19 : SD signal axis 0~3 (Note 1)0
0x57TGR_TRG3_MAPTrigger3 output could map to other DO, TTL DO, CMP in bitsbit 0~7 : Isolated DO 0~7 bit 8~11 : TTL DO 0~3 bit 12~15 : CMP 0~3 bit 16~19 : SD signal axis 0~3 (Note 1)0
0xA0TGR_TCMP0_LEVELTable comparator 0 low level value, set for TCMPL interrupt factor. Please refer to Latch/Compare interrupt factor 80 ~ 2550
0xA1TGR_TCMP1_LEVELTable comparator 1 low level value, set for TCMPL interrupt factor. Please refer to Latch/Compare interrupt factor 80 ~ 2550
0xA2TGR_TCMP2_LEVELTable comparator 2 low level value, set forTCMPL interrupt factor. Please refer to Latch/Compare interrupt factor 80 ~ 2550
0xA3TGR_TCMP3_LEVELTable comparator 3 low level value, set for TCMPL interrupt factor. Please refer to Latch/Compare interrupt factor 80 ~ 2550
0xB0TGR_TRG_STATUSRead trigger output status (Read only)bit 0~7 : Isolated DO 0~7 bit 8~11 : TTL DO 0~3 bit 12~15 : CMP 0~3 bit 16~19 : SD signal axis 0~30
0xC0TGR_TRG0_RESET_OUTPUTReset TRG0 output which is configured by TGR_TRG0_MAPSet 1 to reset output. It will automatically go back to 00
0xC1TGR_TRG1_RESET_OUTPUTReset TRG1 output which is configured by TGR_TRG1_MAPSet 1 to reset output. It will automatically go back to 00
0xC2TGR_TRG2_RESET_OUTPUTReset TRG2 output which is configured by TGR_TRG2_MAPSet 1 to reset output. It will automatically go back to 00
0xC3TGR_TRG3_RESET_OUTPUTReset TRG3 output which is configured by TGR_TRG3_MAPSet 1 to reset output. It will automatically go back to 00
Note 1： Each output bit would be controlled by only ONE trigger channel. If set output bits are overlapped by other trigger channels. Other trigger channels’ output bits ,which is overlapped, will be override to 0. For instance, TGR\_TRG1\_MAP is 13 (1101 in binary). Now, set TGR\_TRG0\_MAP to be 5 (0101 in binary), then TGR\_TRG1\_MAP will be override to 8 (1000 in binary). Note 2： The following parameters, TGR\_TRG0\_PWD\~TGR\_TRG3\_PWD, TGR\_TRG0\_LOGIC\~TGR\_TRG3\_LOGIC, TGR\_TRG0\_TGL\~TGR\_TRG3\_TGL, TGR\_TRG0\_MAP\~TGR\_TRG3\_MAP, only can be set while this trigger channel enabled, otherwise will return ERR\_FunctionNotAvailable error(-13). If this trigger channel disabled, it will also reset trigger output. It is the same as TGR\_TRGx\_RESET\_OUTPUT. PCIe-8364RS Trigger parameter table
NODefineDescriptionValueDefault :
0x00TGR_LCMP0_SRCLinear compare 0 (LCMP0) source0 ~ 1 : External Encoder counter 0~12 : Timer 0 counter3 : Disable3
0x01TGR_LCMP1_SRCLinear compare 1 (LCMP1) source0 ~ 1 : External Encoder counter 0~12 : Timer 0 counter3 : Disable3
0x02TGR_TCMP0_SRCTable compare 0 (TCMP0) source0 ~ 1 : External Encoder counter 0~12 : Timer 0 counter3 : Disable3
0x03TGR_TCMP1_SRCTable compare 1 (TCMP1) source0 ~ 1 : External Encoder counter 0~12 : Timer 0 counter3 : Disable3
0x04TGR_TCMP0_DIRTable compare 0 (TCMP0) direction0 : Negative direction1 : Positive direction2 : Bi-direction(No direction)1
0x05TGR_TCMP1_DIRTable compare 1 (TCMP1) direction0 : Negative direction1 : Positive direction2 : Bi-direction(No direction)1
0x06TGR_TRG_ENTRG 0 ~ 1 enable by bitBit x : (0 : disable, 1 : enable)Bit 0 : TRG0 enable,PWM pulse out0 enable.Bit 1 : TRG1 enable, PWM pulse out1 enable.0
0x07TGR_TCMP0_REUSETable compare 0(TCMP0) compare data reuse function enable.0: Disable reuse function.1: Enable reuse function.NOTE: Must make sure comparison is not running before using.0
0x08TGR_TCMP1_REUSETable compare 1(TCMP1) compare data reuse function enable.0: Disable reuse function.1: Enable reuse function.NOTE: Must make sure comparison is not running before using.0
0x09TGR_TCMP0_TRANSFER_DONETable compare 0(TCMP0) data transfer done status.-1: Not in using.0: Transfer not finish.1: Transfer finish.Be attention: Transfer finish status is read clear status. Status will be "-1" -> "0"... data transfer... -> "1" (By user program read) -> "-1".-1
0x0ATGR_TCMP1_TRANSFER_DONETable compare 1(TCMP1) data transfer done status-1: Not in using.0: Transfer not finish.1: Transfer finish.Be attention: Transfer finish status is read clear status. Status will be "-1" -> "0"... data transfer... -> "1" (By user program read) -> "-1".-1
0x10TGR_TRG0_SRCTrigger output 0(TRG0) sourceNote: OR multi-sources, then output to TRG0)Bit x: (1: On, 0: Off)Bit 0: Manual0Bit 1: ReservedBit 2: TCMP0Bit 3: TCMP1Bit 4: LCMP0Bit 5 : LCMP10
0x11TGR_TRG1_SRCTrigger output 1 (TRG1) sourceNote : OR multi-sources, then output to TRG0 )Bit x : (1 : On, 0 : Off)Bit 0 : Manual0Bit 1 : ReservedBit 2 : TCMP0Bit 3 : TCMP1Bit 4 : LCMP0Bit 5 : LCMP10
0x14TGR_TRG0_PWDTRG0 pulse widthPulse Width = N*15.3nsN = 1~16777214(0xfffffe)11
0x15TGR_TRG1_PWDTRG1 pulse widthPulse Width = N*15.3nsN = 1~16777214(0xfffffe)11
0x18TGR_TRG0_LOGICTRG 0 logic0 : Not inverse1 : Inverse0
0x19TGR_TRG1_LOGICTRG 1 logic0 : Not inverse1 : Inverse0
0x1CTGR_TRG0_TGLTRG 0 toggle mode0 : Pulse out1 : Toggle out0
0x1DTGR_TRG1_TGLTRG 1 toggle mode0 : Pulse out1 : Toggle out0
0x20TIMR_ITVTimer IntervalTimer Interval = N * 15.3nsN = 2~ 2684354572(30ns)
0x21TIMR_DIRTimer direction0 : Positive count1 : Negative count0
0x22TIMR_RING_ENEnable timer counter to be as Ring counter0 : Disable(0x7ffffff+1→0x80000000) (0x80000001-1→0x80000000)1 : Enable(0x7ffffff+1→0x00000000)(0x00000000-1→0x7ffffff)0
0x23TIMR_ENTimer enable0 : Disable, 1 : Enable0
0x40TGR_TCMP2_SRCTable compare 2(TCMP2) source0 ~ 65535 : Axis ID(Note 1)0
0x41TGR_TCMP3_SRCTable compare 3 (TCMP3) source0 ~ 65535 : Axis ID (Note 1)0
0x42TGR_TCMP2_DIRTable compare 2 (TCMP2) direction0 : Negative direction1 : Positive direction1
0x43TGR_TCMP3_DIRTable compare 3 (TCMP3) direction0 : Negative direction1 : Positive direction1
0x54TGR_TRG0_MAPTrigger0 output could map to other DO in bitsbit 0~7 : Isolated DO 0~7 (Note 2)0
0x55TGR_TRG1_MAPTrigger1 output could map to other DO in bitsbit 0~7 : Isolated DO 0~7 (Note 2)0
0x62TGR_TCMP4_SRCTable compare 4 (TCMP4) source0 ~ 65535 : Axis ID (Note 1)0
0x63TGR_TCMP5_SRCTable compare 5 (TCMP5) source0 ~ 65535 : Axis ID (Note 1)0
0x66TGR_TCMP4_DIRTable compare 4 (TCMP4) direction0 : Negative direction1 : Positive direction1
0x67TGR_TCMP5_DIRTable compare 5 (TCMP5) direction0 : Negative direction1 : Positive direction1
0x68TGR_EXTENC0_VALUESet/Get external encoder 0 value-2147483648 (-231) through 2147483647 (231 - 1)0
0x69TGR_EXTENC1_VALUESet/Get external encoder 1 value-2147483648 (-231) through 2147483647 (231 - 1)0
0x6ATGR_EXTENC0_MODESet/Get external encoder 0 mode0 : OUT/DIR mode 01 : CW/CCW mode 02 : 1XAB mode 03 : 2XAB mode 04 : 4XAB mode 05 : OUT/DIR mode 16 : OUT/DIR mode 27 : OUT/DIR mode 38 : CW/CCW mode 10
0x6BTGR_EXTENC1_MODESet/Get external encoder 1 mode0 : OUT/DIR mode 01 : CW/CCW mode 02 : 1XAB mode 03:2XAB mode 04:4XAB mode 05:OUT/DIR mode 16:OUT/DIR mode 27:OUT/DIR mode 38:CW/CCW mode 10
0x6CTGR_EXTENC0_FILTER_ENSet/Get external encoder 0 filter enable0: disable1: enable0
0x6DTGR_EXTENC1_FILTER_ENSet/Get external encoder 1 filter enable0: disable1: enable0
0x6ETGR_EXTENC0_DIRSet/Get external encoder 0 direction0: Not inverse1: Inverse0
0x6FTGR_EXTENC1_DIRSet/Get external encoder 1 direction0: Not inverse1: Inverse0
0x70TGR_TCMP4_TRANSFER_DONETable compare 4(TCMP4) data transfer done status-1: Not in using.0: Transfer not finish.1: Transfer finish.Be attention: Transfer finish status is read clear status. Status will be "-1" -> "0"... data transfer... -> "1" (By user program read) -> "-1".-1
0x71TGR_TCMP5_TRANSFER_DONETable compare 5(TCMP5) data transfer done status-1: Not in using.0: Transfer not finish.1: Transfer finish.Be attention: Transfer finish status is read clear status. Status will be "-1" -> "0"... data transfer... -> "1" (By user program read) -> "-1".-1
Note 1： TCMP2 to TCMP5 are implement for ProfiNet Slaves. The compare cycle time is depends on ProfiNet cycle time. The output mode only supports toggle mode. Output bits are configured by APS\_set\_trigger\_output\_mapping. Note 2： Each output bit would be controlled by only ONE trigger channel. If set output bits are overlapped by other trigger channels. Other trigger channels’ output bits ,which is overlapped, will be override to 0. For instance, TGR\_TRG1\_MAP is 15 (1101 in binary). Now, set TGR\_TRG0\_MAP to be 5 (0101 in binary), then TGR\_TRG1\_MAP will be override to 8 (1000 in binary). If the DO channel is set to trigger output, the DO output will be disabled. # K. Latch parameter table PCI-C154(+) Latch parameter table
PCI-C154(+) Latch parameter table
NODefineDescriptionValueDefault :
0x00LTC_ENC_IPT_MODEEncoder pulse input mode0 : OUT/DIR(EA = Out, EB = Dir)1 : CW/CCW(EA = CW, EB = CCW)2 : 1x AB-Phase03 : 2x AB-Phase4 : 4x AB-Phase4
0x01LTC_ENC_EA_INVInvert EA encoder signal1 : Inverse0 : Not Inverse0
0x02LTC_ENC_EB_INVInvert EB encoder signal1 : Inverse0 : Not Inverse0
0x05LTC_ENC_SIGNAL_FLT_ENEncoder signal Low-Pass filter ( Cutoff(3db)Frequency : 10MHz )1 : Enable0 : Disable1
0x06LTC_FIFO_HIGH_LEVELLatch fifo high Level0 ~ 2550
0x07LTC_SIGNAL_FLT_ENLatch signal filter1 : Enable0 : Disable1
0x08LTC_SIGNAL_TRIG_LOGICLatch signal trigger logic1 : Rising active0 : Falling active0
PCI-8254/58 / AMP-204/8C Latch parameter table
PCI-8254/58 / AMP-204/8C Latch parameter table
NODefineDescriptionValueDefault :
0x10LTC_IPTLatch sourceSource to trigger the position latch : bit 0~7 : TTL0~TTL7 Digital input signals; bit 8~11 : PWM pulse out0
0x11LTC_ENCLatch encoderDetermine which encoder is latched when latch source is triggered; The range of encoder no. is 0~70
0x12LTC_LOGICLatch logicSupport three kinds of logic modes to trigger the latch process : 0 : Only RisingEdge 1 : Only FallingEdge 2 : Both RisingEdge and FallingEdge0
AMP-104C Latch parameter table
AMP-104C Latch parameter table
NODefineDescriptionValueDefault
0x10LTC_IPTLatch sourceEnable or disable Source to trigger the position latch :bit 0~3 : SCSI 68 pin DI0 ~ DI3 signalsbit 4~7 : TTL DI0 ~ DI3 signals bit set 1 -> enablebit set 0 -> disableFor instance, value = 0x6 -> DI1 and DI2 eanble and select these as source, others disable.0
0x11LTC_ENCLatch encoderDetermine which encoder is latched when latch source is triggered; The range of encoder no. is 0~30
0x12LTC_LOGICLatch logicSupport three kinds of logic modes to trigger the latch process :0 : Only RisingEdge1 : Only FallingEdge2 : Both RisingEdge and FallingEdge0
# ECAT-4XMO/ECAT-4XMO-MT, ECAT-TRG4/ECAT-TRG4-MT Latch parameter table
ECAT-4XMO/ECAT-4XMO-MT, ECAT-TRG4/ECAT-TRG4-MT Latch parameter table
NODefineDescriptionValueDefault :
0x10LTC_IPTLatch sourceSource to trigger the position latch :bit 0~3 : Axis 0~3 digital input "LTC"; bit 8~11 : PWM pulse out 0~3, refer to TGR_TRG_EN setting0
0x11LTC_ENCLatch encoderDetermine which encoder is latched when latch source is triggered; The range of encoder no. is 0~30
0x12LTC_LOGICLatch logicSupport three kinds of logic modes to trigger the latch process :0 : Rising edge.1 : Falling edge.2 : Both rising and falling edge.0
0x13LTC_ENLatch flow enableEnable position latch process, refer to Field bus position latch functions.0 : Disable, 1 : Enable*This parameter would not store at device.0
0x14LTC_FIFO_MODELatch single pointBit 0~3 : latch channel mode0 : Latch point using FIFO mode.1 : Latch point using single point mode. New point will replace old point.LTC_FIFO_MODE = 0xF -> latch0~3 using single point mode0
0x15LTC_EXTENC_SRCLatch external encoder sourceAxis ID. Onlycould set on same 833x master card slave servo motor has encoder pulse output function (ECAT-TRG4/ECAT-TRG4-MT only)0 ~ 65535 : Axis ID0
AMP-304C Latch parameter table
AMP-304C Latch parameter table
NODefineDescriptionValueDefault :
0x10LTC_IPTLatch sourceSource to trigger the position latch :Bit 0~3 : DI4~DI7Bit 4~7 : TTL DI0~TTL DI3Bit 8~11 : LTC0~LTC3Bit 12~15 : PWM pulse out 0~3 (refer to TGR_TRG_EN setting)0
0x11LTC_ENCLatch encoderDetermine which counter is latched when latch source is triggered; The range of counter no. is 0~30
0x12LTC_LOGICLatch logicEnable rising/falling edge to trigger the latch. Bit x : (0 : disable, 1 : enable)Refer to Latch logic bit define0
0x14LTC_FIFO_MODELatch single point0 : Latch point using FIFO mode. 1 : Latch point using single point mode. New point will replace old point.0
0x16LTC_GET_DATA_SIZEWhen using APS_get_ltc_fifo_point, this parameter is used to decide the maximum datasize eachrequest. That means, it would effect *ArraySize maximum value that get by APS_get_ltc_fifo_point.1~255255
0x17LTC_FIFO_LEVELLatch fifo high level, set for LTCFL interrupt factor, using this parameter please refer to Latch/Compare channel interrupt factor 20 ~ 2550
Latch logic bit define：
0Falling edge DI48Falling edge LTC016Rising edge DI424Rising edge LTC0
1Falling edge DI59Falling edge LTC117Rising edge DI525Rising edge LTC1
2Falling edge DI610Falling edge LTC218Rising edge DI626Rising edge LTC2
3Falling edge DI711Falling edge LTC319Rising edge DI727Rising edge LTC3
4Falling edge TTL DI012Falling edge TRG0(PWM0)20Rising edge TTL DI028Rising edge TRG0(PWM0)
5Falling edge TTL DI113Falling edge TRG1(PWM1)21Rising edge TTL DI129Rising edge TRG1(PWM1)
6Falling edge TTL DI214Falling edge TRG2(PWM2)22Rising edge TTL DI230Rising edge TRG2(PWM2)
7Falling edge TTL DI315Falling edge TRG3(PWM3)23Rising edge TTL DI331Rising edge TRG3(PWM3)
PCIe-8364RS Latch parameter table
PCIe-8364RS Latch parameter table
NODefineDescriptionValueDefault :
0x10LTC_IPTLatch sourceSource to trigger the position latch :Bit 0~7 : DI0~7;Bit 8~9 : PWM pulse out 0~1 (refer to TGR_TRG_EN setting)0
0x11LTC_ENCLatch encoderDetermine which encoder is latched when latch source is triggered; The range of encoder no. is 0~10
0x12LTC_LOGICLatch logicSupport three kinds of logic modes to trigger the latch process :0 : Rising edge.1 : Falling edge.2 : Both rising and falling edge.0
0x13LTC_ENLatch flow enableEnable position latch process, refer toField bus position latch functions.0 : Disable, 1 : Enable*This parameter would not store at device.0
0x14LTC_FIFO_MODELatch single pointBit 0~3 : latch channel mode0 : Latch point using FIFO mode.1 : Latch point using single point mode. New point will replace old point.LTC_FIFO_MODE = 0xF -> latch0~3 using single point mode0
# L. Device information table
PCI-8392 (H) Device information
InfoNoInformation meaningFormat
0x00Reserved-
0x10Driver versionDate
0x20CPLD version16 Bits
0x30PCB versionPCB
0x40DSP versionDate
PCI-8253/56 Device information
InfoNo.InfoFormatInfoNo.Info
0x00Reserved--0x01Reserved--
0x10Driver versionDate0x11Reserved--
0x20CPLD version16 Bits0x21FPGA version16 Bits
0x30PCB version (Carrier)PCB0x31PCB Ver.(DB)PCB
0x40DSP versionDate0x41Reserved--
PCI-8144 Device information
InfoNoInformation meaningFormat
0x00Reserved-
0x10Driver versionDate format
0x20CPLD version16 Bits
AMP-104C Device information
InfoNoInformation meaningFormat
0x00Reserved-
0x10Driver versionDate format
0x20FPGA version32 Bits
DPAC-1000 Device information
InfoNoInformation meaningFormat
0x00Reserved-
0x10Driver versionDate
0x20CPLD version16 Bits
0x30PCB versionPCB
DPAC-3000 Device information
InfoNoInformation meaningFormat
0x00Reserved-
0x10Driver versionDate
0x20CPLD version16 Bits
0x30PCB versionPCB
PCI(e)-7856 Device information
InfoNoInformation meaningFormat
0x00Reserved-
0x10Driver versionDate format
0x20CPLD version(PCI-7856) / FPGA version(PCIe-7856)CPLD : 16 Bits / FPGA : Date format
0x30PCB versionPCB
MNET-4XMO Device information
InfoNo.InfoFormatInfoNo.Info
0x00Reserved--0x01Reserved--
0x10Reserved--0x11Reserved--
0x20CPLD version16 Bits0x21Reserved--
0x30PCB version (Button)PCB0x31PCB Ver.(Top)PCB
MNET-4XMO-C Device information
InfoNo.InfoFormatInfoNo.Info
0x00Reserved--0x01Reserved--
0x10Reserved--0x11Reserved--
0x20Reserved--0x21FPGA version16 Bits
0x30PCB version (Button)PCB0x31PCB Ver.(Top)PCB
HSL-4XMO Device information
InfoNo.InfoFormatInfoNo.Info
0x00Reserved--0x01Reserved--
0x10Reserved--0x11Reserved--
0x20CPLD version16 Bits0x21Reserved--
0x30Reserved--0x31Reserved--
0x40DSP versionDate format
PCI(e)-8154/8158, PCI-8102 Device information
InfoNo.InfoFormatInfoNo.Info
0x00Reserved--0x01Reserved--
0x10Driver versionDate0x11Reserved--
0x20CPLD version(Carrier)16 Bits0x21FPGA/CPLD Ver.(DB)16 Bits
0x30PCB version (Carrier)PCB0x31PCB Ver.(DB)PCB
PCI-C154(+) Device information
InfoNo.InfoFormatInfoNo.Info
0x00Reserved--0x01Reserved--
0x10Driver versionDate0x11Reserved--
0x20FPGA version(Carrier)16 Bits0x21Reserved--
0x30PCB version (Carrier)PCB0x31Reserved--
EMX-100 Device information
InfoNo.InfoFormatInfoNo.InfoFormat
0x00FMAC software versionDate format0x01FMAC middleware versionDate format
0x11FMAC EXE versionDate format0x100FMAC library versionDate format
PCI-8254/58 / AMP-204/8C Device information
InfoNo.InfoFormatInfoNo.Info
0x00Reserved--0x01Reserved--
0x10Driver versionDate0x11Reserved--
0x20Reserved--0x21FPGA version32 Bits
0x30PCB version (Carrier)PCB0x31Reserved--
0x40DSP versionDate0x41Reserved--
PCIe-833x Device information
InfoNo.InfoFormatInfoNo.Info
0x00Reserved--0x01Reserved--
0x10Driver versionDate0x11Reserved--
0x20Reserved--0x21FPGA version32 Bits
0x30Product and PCB version (Carrier)PRO,PCB0x31Reserved--
0x40Kernel versionDate0x41Reserved--
PCIe-8364RS Device information
InfoNo.InfoFormatInfoNo.Info
0x00Reserved--0x01Reserved--
0x10Driver versionDate0x11Reserved--
0x20Reserved--0x21FPGA version32 Bits
0x30Product and PCB version (Carrier)PRO,PCB0x31Reserved--
0x40Kernel versionDate0x41Reserved--
# Format description： Date format： 32 bit value Value = YYMMDD; Y：year, M：month, D：day Eg. Driver version = 80212. 2008/2/12 release. Product format and PCB format： 4 bits value. 00 00b = PCB A1 version ![The diagram depicts a versioning structure with the following labeled blocks and connections:\n\n**Labeled Blocks:**\n* **00** (underlined)\n* **00b**\n* **Sub version (1~4 )**\n* **Main version (A~D)**\n\n**Connections:**\n* A vertical line descends from **00** and an arrow at the bottom points to the right towards **Main version (A~D)**.\n* A vertical line descends from **00b** and an arrow points to the right towards **Sub version (1~4 )**.](.aps-functionlibrary-v2-1/91d09e789c90a7be83c9f4f137f4bfc4484b55bcb0533b5cc4c4a0ebaece0cc3.jpg)
Dec.BinVersionDec.BinVersion
00000bA181000bC1
10001bA291001bC2
20010bA3101010bC3
30011bA4111011bC4
40100bB1121100bD1
50101bB2131101bD2
60110bB3141110bD3
70111bB4151111bD4
16 Bits Format： 16 bit value (1 \~ 255) For PCIe-833x： Product format and PCB format (3 bits)：  PCB format： bit 0 value, 0b： A1, 1b： A2.  Product format： bit 1 \~ 2 value, 00b： PCIe-8338, 01b： PCIe-8332, 10b： PCIe-8334 ![The image displays a simple black arrow pointing horizontally to the right against a white background.](.aps-functionlibrary-v2-1/6d96bfe87b9dacf746a355c5c6a779a395058be4d03f7737d3d92e99744037af.jpg) PCB version ![A black arrow pointing to the right.](.aps-functionlibrary-v2-1/1e69247a75358d5f68a922285e9315e36b608fc94db9895a75795667596da929.jpg) Productversion
Dec.BinVersion
0000bPCIe-8338, A1
1001bPCIe-8338, A2
2010bPCIe-8332, A1
3011bPCIe-8332, A2
4100bPCIe-8334, A1
5101bPCIe-8334, A2
6
7
For PCI-8254/58 / AMP-204/8C and PCIe-833x： 32 Bits Format： 32 bit value
AMP-304C Device information
InfoNo.InfoFormatInfoNo.Info
0x00Reserved--0x01Reserved--
0x10Driver versionDate0x11Reserved--
0x20Reserved--0x21FPGA version(Carrier)16 Bits
0x30PCB version (Carrier)PCB0x31Reserved--
# M. Field bus slave parameter table
HSL-DI16-UL
CH NO.PA NO.DescriptionValueDefault :
-10x0000Enable / Disable stretch (latch) function for all channels.(Set only)0 : Enable1 : Disable1
-10x0001Set stretch (latch) duration for all channels.(Set only)0 ~ 127 (ms)0 : No stretch.0
0 ~ 150x0000Set / Get stretch (latch) function for each channel.0 : Enable1 : Disable1
0 ~ 150x0001Set / Get stretch (latch) duration for each channel.0 ~ 127 (ms)0 : No stretch.0
HSL-AI16AO2
CHNO.PA NO.DescriptionValueDefault:
-10x0000Set / Get analog input range.0 : +/- 10V1 : +/- 5V2 : +/- 2.5V3 : +/- 1.250
-10x0001Set / Get last scan analog input channel0 ~ 1515
-10x0002Enable / Disable analog input (AD converter)(Set only)0 : Disable1 : Enable0
HSL-AO4
CHNO.PA NO.DescriptionValueDefault:
-10x0000Set / Get keep mode. (Value format : Bit format )Keep Enable means that ananlg output will be kept when communication is broken.Set 0 enable all channels keep mode.Set 0xF disable all channels keep mode.Bit ON :DisableBit OFF :EnableBit 0~3 : Ch 0~ Ch30
# N. DPAC display index table APS\_get\_display\_data() and APS\_set\_display\_data() reference table. For alphabet type, users can use one of three values to disaply it. For example, for letter ‘A’, users can set 0x0A, 0x41 or 0x61 to display it.
7-SegmentLED results* displayIndexdisplayIndexdisplayIndexdisplayIndex
'0'0x000X30(ASCII'0')
'1'0x010X31(ASCII'1')
'2'0x020X32(ASCII'2')
'3'0x030X33(ASCII'3')
'4'0x040X34(ASCII'4')
'5'0x050X35(ASCII'5')
'6'0x060X36(ASCII'6')
'7'0x070X37(ASCII'7')
'8'0x080X38(ASCII'8')
'9'0x090X39(ASCII'9')
'A'0x0A0X41(ASCII'A)0X61(ASCII'a')
'b'0x0B0X42(ASCII'B')0X62(ASCII'b')
'C'0x0C0X43(ASCII'C')0X63(ASCII'c')
'd'0x0D0X44(ASCII'D')0X64(ASCII'd')
'E'0x0E0X45(ASCII'E')0X65(ASCII'e')
'F'0x0F0X46(ASCII'F')0X66(ASCII'f')
'G'0x100X47(ASCII'G')0X67(ASCII'g')
'H'0x110X48(ASCII'H')0X68(ASCII'h')
'i'0x120X49(ASCII'I')0X69(ASCII'i')
'j'0x130X4A(ASCII'J')0X6A(ASCII'j')
'K'0x140X4B(ASCII'K')0X6B(ASCII'k')
'L'0x150X4C(ASCII'L')0X6C(ASCII'l')
'M'0x160X4D(ASCII'M')0X6D(ASCII'm')
'n'0x170X4E(ASCII'N')0X6E(ASCII'n')
'o'0x180X4F(ASCII'O')0X6F(ASCII'o')
'p'0x190X50(ASCII'P')0X70(ASCII'p')
'q'0x1A0X51(ASCII'Q')0X71(ASCII'q')
'r'0x1B0X52(ASCII'R')0X72(ASCII'r')
'S'0x1C0X53(ASCII'S')0X73(ASCII's')
't''U'0x1D0X54(ASCII'T')0X74(ASCII't')
0x1E0X55(ASCII'U')0X75(ASCII'u')
'v'0x1F0X56(ASCII'V')0X76(ASCII'v')
'W'0x210X57(ASCII'W')0X77(ASCII'w')
'X'0x220X58(ASCII'X')0X78(ASCII'x')
'Y'0x230X59(ASCII'Y')0X79(ASCII'y')
'Z'0x240X5A(ASCII'Z')0X7A(ASCII'z')
'0.'0x25
'1.'0x26
'2.'0x27
'3.'0x28
'4.'0x29
'5.'0x2A
'6.'0x2B
A'7.'0x2C
'8.'0X2D
'9.'0X2E
' '0X2F0X200X20(ASCII' ')
# O. DPAC button status table ON in the table means pushed. Example Steps – check B3 ON/OFF 1) Read button status 2) To get a new button status by ‘NOT’ button status 3) Maps B3 to Bit# by “Bit#=(4 - B#)’. We get Bit1. 4) Use Bit1 (0010b) to ‘AND’ new button status 5) If the result is zero, it means B3 is not pushed. 6) If the result is non-zero, it means B3 is pushed.
Button statusB1 (Bit3)B1 (Bit3)B1 (Bit3)B1 (Bit3)
0x0FOFFOFFOFFOFF
0x0EOFFOFFOFFON
0x0DOFFOFFONOFF
0x0COFFOFFONON
0x0BOFFONOFFOFF
0x0AOFFONOFFON
0x09OFFONONOFF
0x08OFFONONON
0x07ONOFFOFFOFF
0x06ONOFFOFFON
0x05ONOFFONOFF
0x04ONOFFONON
0x03ONONOFFOFF
0x02ONONOFFON
0x01ONONONOFF
0x00ONONONON
P. SSCNET servo monitor source table
Monitor Source NO.ContentUnitsNote (bytes)
0Position feedbackPulse4
1Position droopPulse4
2Speed feedback0.01 r/min4
3Electrical current feedback (torque)0.1%2 Bytes
4Instataneous with-in one revolution positionPulse4 Bytes
5Original position with-in one revolutionPulse4 Bytes
6ZCTPulse4 Bytes
7Instataneous position encoder pulse/rev counter.rev2 Bytes
8Original position encoder pulse/rev counter.rev2 Bytes
9Bus voltageV2 Bytes
10Regenerative load factor%2 Bytes
11Effective load ratio%2 Bytes
12Ratio of load inertia monemt to servo motor inertia momentTimes2 Bytes
13Position loop gainRad/s2 Bytes
14Alarm/warning number
15Alarm details bit
16Parameter number
17Alarm status (AL10~AL1F)
18Alarm status (AL20~AL2F)
19Alarm status (AL30~AL3F)
20Alarm status (AL40~AL4F)
21Alarm status (AL50~AL5F)
22Alarm status (AL60~AL6F)
23Alarm status (AL70~AL7F)
24Alarm status (AL80~AL8F)
25Alarm status (AL90~AL9F)
26Alarm status (ALE0~ALEF)
# Q. VAO parameter table
PCI-8253/56 VAO parameter table
NODefineDescriptionValueDefault:
0x00 + (2 * N)Note:N is TableNo,range is 0 ~ 7.(*3)VAO_TABLE_OUTPUT_TYPETable output type(*1)0 : Voltage1 : PWM mode2 : PWM frequency mode with fixed width3. PWM frequency mode with fixed duty cycle1
0x01 + (2 * N)Note:N is TableNo,range is 0 ~ 7.(*3)VAO_TABLE_INPUT_TYPETable input type0 : Feedback speed1 : Command speed0
0x10 + NNote:N is TableNo,range is 0 ~ 7.(*3)VAO_TABLE_PWM_ConfigConfigure PWM according to output type.a. Mode 0 - Don't careb. Mode 1 - set a fixed frequency(1 ~ 25M Hz)c. Mode 2 - set a fixed Pulse Width(40 ~ 335544340 ns)d. Mode 3 - set a fixed duty cycle:N * 0.05 %. (N : 1 ~ 2000)100
0x20 + NNote:N is TableNo,range is 0 ~ 7.(*3)VAO_TABLE_SRCSpecify axisID for VAO table.( linear speed on multi- axes )(*2)Bit0 : Axis 0 OnBit1 : Axis 1 OnBit2 : Axis 2 OnBit3 : Axis 3 On0x01
0x30(*4)ReservedReservedReserved
0x40VAO_DO_DELAY_TIMESpecify a delay time for Do output whenpoint table is running.0 : No delay time.N : Delay time is N*DSPcycle. For PCI-8253, DSPcycle is 400 us. For PCI-8256, DSP cycle is 500 us.0
0x50~Reserved
(\*1)： PCI-8253 don’t support voltage mode. (\*2)： PCI-8253 supports 3 axes. Bit 0, bit 1 and bit 2 are available. (\*3)： Vao supports 8 tables. Each table has own parameter setting. For example, user could use 0x00 to set table output type to table0 and use 0x02 to set output type to table1. For another example, user could use 0x20 to specify axis id for table 0 and use 0x21 to specify axis id for table 1. (\*4)： A parameter named VAO\_TABLE\_TARGET(0x30), used to set output channel, is taken off because of supporting multi-table design. By new design, user could set output channel by APS\_start\_vao(). Refer to APS\_start\_vao(). (\*1)： Vao supports 8 tables. Each table has own parameter setting. For example, user could use 0x00 to set table output type to table0 and use 0x02 to set output type to table1. For another example, user could use 0x20 to specify axis id for table 0 and use 0x21 to specify axis id for table 1.
PCI-8254/58 / AMP-204/8C VAO parameter table
NODefineDescriptionValueDefault:
0x00 + (2 * N)Note:N is TableNo,range is 0 ~ 7.(*1)VAO_TABLE_OUTPUT_TYPETable output type(*1)0 : Voltage(reserved)1 : PWM mode2 : PWM frequency mode with fixed width3. PWM frequency mode with fixed duty cycle1
0x01 + (2 * N)Note:N is TableNo,range is 0 ~ 7.(*1)VAO_TABLE_INPUT_TYPETable input type0 : Feedback speed1 : Command speed0
0x10 + NNote:N is TableNo,range is 0 ~ 7.(*1)VAO_TABLE_PWM_ConfigConfigure PWM according to output type.a. Mode 0 - Don't careb. Mode 1 - set a fixed frequency(3 ~ 50M Hz)c. Mode 2 - set a fixed Pulse Width(20 ~ 335544300 ns)d. Mode 3 - set a fixed duty cycle :N * 0.05 %. (N : 1 ~ 2000)100
0x20 + NNote :N is TableNo,range is 0 ~ 7.(*1)VAO_TABLE_SRCSpecify axisIDfor VAO table.( linear speed on multi- axes )Bit0 : Axis 0 OnBit1 : Axis 1 OnBit2 : Axis 2 OnBit3 : Axis 3 On0x01
0x30ReservedReservedReserved
# 39.APS Functions Return Code The following table provides a list of possible return value in APS library. If the return value is a negative value, it means there are some errors or warning occurred.We provide C/C++ standard header file, “ErrorCodeDef.h”, which define all errors return value. (\*1)： Now only used in PCI(e)-8154/58 APS\_spiral\_ce\_xxx function. Due to 8154/58 limit, 4 th / 8 th axis operation will be a dummy motion and it can’t be used for any other puspose. This axis need to be set servo-off. If not, it will return ERR\_InServoOnState A. APS Error Code Table (\*2) ：If used two or more EMX-100 device.Please save Board ID and Axis ID in the same XML file.
CodeDefineError descriptions and items to check
0ERR_NoErrorSuccess, No error
-1ERR_OSVersionOperating system version error.
-2ERR_OpenDriverFailedOpen driver failed. Create driver interface failed.Check device driver is installed correctly.Check devices are installed correctly in your system.
-3ERR_InsufficientMemorySystem memory insufficiently.There is not enough memory in your system.
-4ERR_DeviceNotInitialThe Device or the card is not be initialized.Check the card IDThe device has been closedThe device is not be initialized.
-5ERR_NoDeviceFoundDevices not foundCheck device driver is installed correctly.Check devices are installed correctly in your system.
-6ERR_CardIdDuplicateCard ID duplicated.Check the card ID settings (SW jump)Check the parameter of initial function is correctly.
-7ERR_DeviceAlreadyIntialedThe devices have already been initialed.1. Check the close card function is work correctly.
-8ERR_InterruptNotEnableInterrupt events not be enabled.1. Enable the hardware interrupt.2. Check the interrupt factor is set correctly.
-9ERR_TimeOutFunction timeout.
-10ERR_ParametersInvaildThe value of the parameters is incorrect.Check the setting range of parameters.Compare the setting value of parameters with user manual.
-11ERR_SetEEPROMHardware memory write error.
-12ERR_GetEEPROMHardware memory read error.
-13ERR_FunctionNotAvailableThe function is not available in current stage.The device is not support this function.System is in error state.1. Check the function library.2. Check the hardware connection (servo drive connection)3. Reinitial(Reboot) the system.
-14ERR_FirmwareErrorFirmware process error.1. Check the firmware version.
-15ERR_CommandInProcessThe previous command is in process.
-16ERR_AxisIdDuplicateAxes' ID is duplicated.
-17ERR_ModuleNotFoundSlave module not found.
-18ERR_InsufficientModuleNoSystem ModuleNo insufficiently
-19ERR_HandShakeFailedHandSake with the DSP out of time.
-20ERR_FILE_FORMATConfig file format error.(cannot be parsed)
-21ERR_ParametersReadOnlyFunction parameters read only.
-22ERR_DistantNotEnoughDistant is not enough for motion.
-23ERR_FunctionNotEnableFunction not yet enabled
-24ERR_ServerAlreadyCloseServer already closed
-25ERR_DIINotFoundCould't find virtual DLL
-32ERR_DIIFuncFailedCould't find specified function on virtual DLL
-33ERR_FeederAbnormalStopFeeder abnormally stop
-40ERR_DoubleOverflowDouble format parameter is overflow
-41ERR_SlaveNumberErrSlave ID number error.
-42ERR_SlaveStatusErrThe status of EtherCAT slave is error
-43ERR_OverRangeThe input data over assigned range
-46ERR_LatchFlowErrExecute latch function error
-48ERR_InServoOnStateAxis is in servo on state would cause error.(*1)
-52ERR_NO_POINT_EXISTThere is no point exist in point table when point table move start.
-53ERR_WRONG_MANUAL_SLAVE_IDOne of connected slave not support AL control procedure.
-54ERR_DUPLICATE_MANUAL_SLAVE_IDThe manual slave ID number duplicate condition occurrence.
-55ERR_VALUE_NOT_DEFINEThe value is not in definition.
-56ERR_CTRL_MODE_NOT_COMPATIBLEComand control mode not compatible.
-57ERR_ServerTimeoutReserve for multi-process error code define
-58ERR_DataOverRangeArgument or get data over range
-59ERR_MappingConfigureErrLoad PCIe-833x IO mapping configure file error
-60ERR_waitWatchDogAliveTimeoutkernel update wait watchdog alive error
-61ERR_KernelRebootTimeoutkernel update reboot error
-901ERR_INIT_ERRORInitialization error
-902ERR_NO_INITNo initialization
-903ERR_NO_SETUPNo input parameters setup
-904ERR_INPUT_ERRORError input parameters
-905ERR_STATUS_NOT_READYPC status is not ready
-906ERR_AXIS_BUSYThe state of specified axis is busy
-907ERR_NETWORK_ERRORNetwork connection has error
-908ERR_NETWORK_TIME_OUTNetwork connection is time-out
-909ERR_CRC_FAILChecking CRC is failed
-910ERR_PARAM_INVALIDInvalid parameter setting for EMX-100
-911ERR_NO_SERVO_ONNot in servo on status
-912ERR_API_TIMEOUTAPI is timeout (150ms)
-913ERR_EXE_GET_STATUS_TIMEOUTAsynch status update timeout
-915ERR_LOAD_XML_MISMATCHMismatch configuration of Board ID and Axis ID in XML file(*2)
-1000ERR_Win32ErrorNo such event number, or WIN32_API error, contact with ADLINK's FAE staff.
-1001ERR_NoENIFileGenerating ADLINK_Config2.xml file (ENI file) is failed.
-1002ERR_TimeOut_SetVoltageEnableSet voltage enable time out with servo on process.
-1003ERR_TimeOut_SetReadyToSwitchSet ready to switch time out with servo on process.
-1004ERR_TimeOut_SetShutdownSet shut down time out with servo on process.
-1005ERR_TimeOut_SetSwitchOnSet switch on time out with servo on process.
-1006ERR_TimeOut_SetOperationEnableSet operation enable time out with servo on process.
-1007ERR_RegistryPathSystem registry path fails or no registry.
-1008ERR_MasterNotOPStateMaster is not in OP state.
-1009ERR_SlaveNotOPStateSlave is not in OP state.
-1010ERR_SlaveTotalAxisNumberThe scanned number of EtherCAT slaves' axes exceeds the number of maximum axes that PCIe-8334/8 can support.
-1011ERR_MissESIFileOrMissENIPathMiss ESI file or ENI path.
-1012ERR_MissConfig_1_XmlMiss Config_1 xml file.
-1013ERR_CopyConfig_1_Xml_failCopy Config_1 xml file fail.
-1014ERR_MissConfig_2_XmlMiss Config_2 xml file.
-1015ERR_CopyConfig_2_Xml_failCopy Config_2 xml file fail.
-1016ERR_InvalidSlaveLocalAxisInvalid slave local axis
-1017ERR_InvalidECATHomeModeInvalid home mode
-1018ERR_FoEFileNameOverLimitFile name length over 32 bytes.
-1019ERR_FoEFileVerifyErrorFile compare result failed.
-1020ERR_FoEConflictAutoRecoveryAuto recovery function is enabled. Must “DISABLE” auto recovery function before using FoE download.
-1021ERR_FoEFileSizeOverLimitFoE download file is too large. The limitation is 10M bytes.
-1200ERR_NoPNDriverConfigurationFileOrPathNo PNDriverConfiguration file or path
-1201ERR_MasterNotReadyToLoadConfigurationStateMaster is Not at ReadyToLoadConfiguration State
-1202ERR_MasterNotControlStateMaster is Not at Control State
-1203ERR_FailDownLoadPNDriverConfigurationFileFail download PNDriverConfiguration file
-1204ERR_PnRegistryPathCannot find program files path
B. DSP motion kernel error code
CodeDefineError descriptions and items to check
-2001MKERR_AXIS_INDEXAxis range error
-2002MKERR_CHANNEL_INDEXChannel range error
-2003MKERR_PARA_UNDEFINEParameter number undefined
-2004MKERR_PARA_FAULTParameter data is wrong
-2005MKERR_STATE_UNAVAILABLEThis state cannot do this thing. (command position only can be set when axis is in idle)
-2006MKERR_CHECKSUMChecksum error (Internal error),(Check code error)
-2007MKERR_TIME_OUTTimeout error
-2008MKERR_MEM_TESTMemory test error
-2009MKERR_CTRL_CMDUnknown command or this state cannot accept this command
-2010MKERR_AXES_DIMENSIONThe dimension of the axes is invalid.
-2011MKERR_MBUF_FULLMotion buffer is full
-2012MKERR_NO_AVAILABLE_SPGThis function cannot be accept when axes are in blending, ( all spgs are busy )
-2013MKERR_BLEND_PERCENTThe transition parameter " percent " is out of range.
-2014MKERR_TRANSITION_MODETransition mode is undefined or not support.
-2015MKERR_COORD_TRANS_INDEXTransform matrix column index > MAX_AXES (invaild)
-2016MKERR_SINP_WIDTHSoft-inp width invaild ( >= 0 )
-2017MKERR_SINP_STABLE_TIMESoft-inp stable time invaild ( < 65535 )
-2018MKERR_GANTRY_MASTERGantry master axis invaild
-2019MKERR_FCMP_SIZEThe size of compare date is over range.
-2020MKERR_VS_INVALIDStart velocity invalid, (vs >= 0)
-2021MKERR_VE_INVALIDEnd velocity invalid. (ve >= 0)
-2022MKERR_VM_INVALIDMaximum velocity invalid. (vm > 0)
-2023MKERR_ACC_INVALIDAcceleration invalid. (acc > 0)
-2024MKERR_DEC_INVALIDDeceleration invalid. (dec > 0)
-2025MKERR_S_INVALIDS invalid. ( 0 <= S <= 1 )
-2026MKERR_SD_DEC_INVALIDSD Dec invalid. (>0)
-2027MKERR_AXES_OVERLAPPINGAxes number cannot overlapping.
-2028MKERR_BLEND_DISTANCEThe transition parameter "ResidueDistance" cannot < 0.0.
-2029MKERR_ERROR_POS_LEVELError position check level must >= 0.0
-2030MKERR_WAIT_MOVEWait mode not accept when axis in moving
-2031MKERR_AX_DISABLEAxis is disable (Servo off)
-2032MKERR_AX_ERRORAxis is in error state (AX_ERR_STOPPING/AX_ERR_STOPPED). you should reset the error state.
-2033MKERR_AX_MOVINGAxis is in moving and command cannot accept (cannot overwrite), axes must same dimension, same axes
-2034MKERR_PRE_EVENT_DISTpre-event distance must >= 0
-2035MKERR_POST_EVENT_DISTpost-event distance must >= 0
-2040MKERR_ARC_PARAThis function cannot accept half arc or full arc parameter
-2041MKERR_ARC_FINAL_RThe finalR cannot be negative value.
-2042MKERR_ARC_NORMALNormal vector invalid. or arc parameters invalid.
-2050MKERR_GANTRY_DEV_PROTECTGantry deviation protect value must >= 0
-2051MKERR_INVAILD_IN_GANTRYThis command is not allow in gantry mode.
-2052MKERR_INVAILD_GEAR_MASTERGear master is not define
-2053MKERR_ENGAGE_RATE
-2054MKERR_GEAR_RATIO
-2055MKERR_GEAR_ENABLE_MODE
-2056MKERR_GEAR_LOOPCannot be a gear loop.
-2057MKERR_JOG_OFFSETThe jog offset paremeter is wrong. must > 0
-2062MKERR_DI_GROUPDI group number is wrong.
-2063MKERR_DI_CHDI channel number is wrong.
-2070MKERR_FILTER_COEFFICIENTFilter coefficient is wrong
-2071MKERR_FBK_VEL_COEFFICIENT
-2080MKERR_PTBUFF_AXIS_NOT_IDLEAxis (Axes) are now in moving state, cannot start point buffer
-2081MKERR_PTBUFF_DIMENSIONInvalid axes dimension setting
-2082MKERR_PTBUFF_AXIS_IN_USEAxes number are already in use by another PTB
-2083MKERR_PTBUFF_NOT_ENABLEPTBUFF not enable
-2084MKERR_PTBUFF_FULLPTBUFF is full.
-2085MKERR_PTBUFF_CURVE_TYPEInvalid motion curve type
-2086MKERR_PTBUFF_DIMENSION_MISSMiss mach line move dimension and PTBUFF dimension
-2087MKERR_PTBUFF_CURVE_DIMENSIONCurve type and it's dimension miss match
-2088MKERR_PTBUFF_ABNORMAL_STOPAxes abnormal stop, please check axis stop code.
-2089MKERR_PTBUFF_M_QUEUE_EXCEPTIONAxes motion queue exception.
-2090MKERR_PTBUFF_AXIS_INDEX_INVAILDTarget axes index is over PTBUFF dimension
-2091MKERR_PTBUFF_IDInvalid PTBUFF ID. Check the input parameter.
-2092MKERR_PTBUFF_CTRL_COMMANDInvalid PTBUF control command. Check the input parameter.
-2093MKERR_PTBUFF_AXES_IN_MOTIONPTBUFF detected axes are in motion when start PTBUFF.
-2094MKERR_PTBUFF_EXT_COMMANDS_NUMPTBUFF extra-commands must < = 7
-2095MKERR_PTBUFF_EXT_COMMAND_EMPTYExecute extra command but command queue is empty.
-2096MKERR_PTBUFF_EXT_COMMAND_FULLPush extra command but command queue is full.
-2097MKERR_PTBUFF_EXT_COMMNADInvalid extra command code.
-2098MKERR_PTBUFF_NOT_STOPPEDInvalid command when point buffer is running.
-2099MKERR_PTBUFF_DWELL_TIMEDwell time must >= 0
-2100MKERR_HS_UNKNOWN_CMDHandshake data error. command unknown.
-2101MKERR_HS_SIZEHandshake data error. size or dimension invalid.
-2102MKERR_HS_SUB_ERRORSSub functions have errors. please check sub return code
-2201MKERR_DSP_SYSTEM_CONFIGDSP initialize error. (Call adlink R&D staff)
-2208MKERR_LOAD_CALIBRATION_DATALoad calibration data failed.
-2209MKERR_DPRAM_TEST_FAILEDDPRAM hardware test failed. (Call adlink staff)
-2210MKERR_FPGA_VERSIONFPGA version outdated. (Call adlink staff)
-2211MKERR_PSC_TIME_OUT
-2212MKERR_PLL_TIME_OUT
-2213MKERR_PSC_PARAM_ERR
-2300MKERR_MOTION_LOOP_TIMINGThe timing of motion loop is out of range.
-2401MKERR_WRITE_ROM
-2402MKERR_READ_ROM
-2403MKERR_REF_5V
-2404MKERR_SET_AI_OFFSET
-2405MKERR_SET_AI_GAIN
-2406MKERR_SET_AO_OFFSET
-2407MKERR_SET_AO_GAIN
-2408MKERR_NO_CALIBNo calibration data in EEPROM. (Not all gain/offset of AO/AI are calibrated)
-2409MKERR_DATA_SIZE
-2410MKERR_BACKDOOR_PWDBackdoor password wrong.
-2411MKERR_ROM_PROG_SIZE(Flash) Byte count of data to much or Offset is over
range.
-2500MKERR_OVER_QUEUE_SIZEQueue size is less than input array
-2600MKERR_FRP_STATEState of frequency response process is invalid
-2601MKERR_RCP_STATEState of relay control process is invalid
-2700MKERR_TASK_NUMTask number is wrong
-2701MKERR_UNKNOWN_PROGRAM_REGISTERUnknown program register.
-2702MKERR_CANNOT_SET_REG _WHEN_PG_NOT_STOPProgram is runing, you cannot issue this command
-2703MKERR_OVER_STACK_SIZEOver stack size range
-2800MKERR_ACCESS_UNDEFINEDAccess type is undefined
-2801MKERR_ACCESS_DENIEDParameter access is denied since it is in save/load process
-2802MKERR_ERASE_SECTIONErase section is failed due to time out
-2803MKERR_LAST_MARK_INVALIDLoad data error; ; last mark in flash is error
-2804MKERR_CHK_PARITYLoad data error; parity bit is error
-2805MKERR_OVER_DATA_TYPELoad data error; over max data type define
-2806MKERR_OVER_PA_TYPELoad data error; over max parameter type define
-2807MKERR_OVER_MAX_BOARDLoad data error; over max board parameter define
-2808MKERR_OVER_MAX_AXISLoad data error; over max axis parameter define
-2900MKERR_WDT1_STATEWatchdog timer 1 has been enabled
-2901MKERR_WDT1_PERIODMax reset period of watchdog timer 1 is out of range
-2903MKERR_TIME_INTERVATime interval between two points of PVT/PT motion is a negative value or zero. For example : t0 = 0.0sec, t1 = 0.5sec, t2 = 0.1sec
C. EtherCAT Master Error Code
CodeDefineError descriptions and items to check
-4001EC_INIT_MASTER_ERRInitialized EtherCAT master error
-4011EC_GET_SLV_NUM_ERRGet total slave number error
-4012EC_CONFIG_MASTER_ERRConfigure EtherCAT master error
-4013EC_BUSCONFIG_MISMATCHTopology information is not match with current data
-4014EC_CONFIGDATA_READ_ERRRead configuration data error
-4015EC_ENI_NO_SAFEOP_OP_SUPPORTDon't support safeop and op state
-4021EC_CONFIG_DC_ERRConfigure DC parameter error
-4022EC_DCM_MODE_NO_SUPPORTThe dcm mode is not support
-4023EC_CONFIG_DCM_FEATURE_DISABLEDThe dcm feature was disabled
-4024EC_CONFIG_DCM_ERRConfigure DCM parameter error
-4031EC_REG_CLIENT_ERRRegister client error
-4041EC_SET_INIT_STATE_ERRSet EtherCAT master to initial state error
-4042EC_SET_PREOP_STATE_ERRSet EtherCAT master to preop state error
-4043EC_SET_SAFEOP_STATE_ERRSet EtherCAT master to safeop state error
-4044EC_SET_OP_STATE_ERRSet EtherCAT master to op state error
-4051EC_DE_INIT_MASTER_ERRDeinitialized EtherCAT master error
-4061EC_ENI_FOPEN_ERRCan't open ENI information
-4062EC_ENI_FREAD_ERRCan't read ENI information
-4063EC_GEN_EBI_BUSSCAN_ERRScan the EtherCAT bus error
-4081EC_WRONG_PORT_NOInput wrong EtherCAT master port number
-4091EC_GET_SLAVE_INFO_ERRGet slave information error
-4101EC_COE_SDO_UPLOAD_ERRExecute sdo upload input data error
-4102EC_COE_SDO_HOME_MODE_ERRInput ECAT servo home mode error or wrong data.
-4103EC_COE_SDO_HOME_ACCDEC_ERRInput ECAT servo home ACC/DEC error or wrong data.
-4104EC_COE_SDO_HOME_VM_SWITCH_ERRInput ECAT servo home limit switch error or wrong data.
-4105EC_COE_SDO_HOME_VM_ZERO_ERRInput ECAT servo home zero error or wrong data.
-4106EC_COE_SDO_HOME_OFFSET_ERRInput ECAT servo home offset error or wrong data.
-4107EC_CONTROL_WORD_HOME_ERRInput ECAT servo home control word error or wrong data.
-4108EC_COE_SDO_STOP_ERRInput ECAT servo home stop error or wrong data.
-4109EC_CONTROL_WORD_STOP_ERRInput ECAT servo home limit switch error or wrong data.
-4110EC_SET_OP_MODE_HOME_ERRSet OP mode error with ECAT home process.
-4201EC_WRONG_SLAVE_NOInput slave number is over the limit
-4202EC_WRONG_MODULE_NOInput module number is over the limit
-4203EC_WRONG_AI_CHANNEL_NOInput AI channel number is over the limit
-4204EC_WRONG_AO_CHANNEL_NOInput AO channel number is over the limit
-4205EC_COE_SDO_DOWNLOAD_ERRExecute sdo download input data error
-4301EC_COE_OD_INIT_ERRCreate memory error when initialized object dictionary
-4302EC_COE_GET_OD_NUM_ERRGet object dictionary number error
-4303EC_COE_GET_OD_NUM_LASTThe input object dictionary number is the last
-4304EC_COE_GET_OD_DESC_ERRGet object dictionary description error
-4305EC_COE_GET_OD_DESC_ENTRY_ERRGet object dictionary description entry error
-4306EC_COE_GET_OD_STATUS_PENDGet object dictionary is pending
-4405EC_PDO_ACCESS_OFFSET_ERRPDO offset is invalid.
-4501EC_GET_SLAVE_ID_ERRGet slave ID failed.
-4502EC_SET_SLAVE_ID_ERRSet slave ID failed.
-4503EC_DUPLICATE_SLAVE_ID_ERRThe slave ID number duplicate occurrence
-4504EC_GET_SLAVE_REGISTER_ERRGet slave register error
-4505EC_SET_SLAVE_REGISTER_ERRSet slave register error
-4506EC_GEN_ENIFILE_BUFFER_ERRGenerate ENI file error while start field bus.
-4507EC_LOAD_ENIFILE_FLASH_ERRLoad ENI file error while loading from flash.
-4508EC_UNIVERSAL_OD_EMPTYUniversal OD information is empty.
-4509EC_UNIVERSAL_OD_NOT_EXISTThe universal OD is not exist.
-4510EC_ACCESS_LENGTH_EXCEEDEDUniversal OD access length exceeded last OD offset.
-4600EC_FOE_FILE_NAME_NULLFoE download file name is null.
-4601EC_FOE_FILE_OPEN_FAILFoE file open failed
-4602EC_FOE_FILE_MEMORY_ALLOCATE_FAILMemory allocate failed when creating memory for FoE file.
-4603EC_FOE_FILE_COPY_DATA_FAILCopy FoE file content to buffer failed.
-4604EC_FOE_NO_MBX_SUPPORTSlave module without mailbox support
-4605EC_FOE_FILE_DELETE_FAILFoE file delete failed.
-4606EC_FOE_DOWNLOAD_TIME_OUTFoE file download time out
-4607EC_FOE_DOWNLOAD_FILE_NOT_VALIDSlave module not support FoE download. Without "Bootstrap" state.
-4608EC_FOE_DOWNLOAD_PWD_NOT_VALIDFoE download password not valid.
D. ProfiNet Master Error Code
CodeDefineError descriptions and items to check
-6001ARM_initial_failARM initial fail
-6002sys_initial_failSystem initial fail
-6003SM_initial_failSM initial fail
-6004SW_initial_failSW initial fail
-6005load_xml_APS_failLoad xml from APS fail
-6006startup_failStartup fail
-6007IRT_cycle_time_failIRT cycle time fail
-6008NOT_IRT_cycle_timeNOT IRT cycle time
-6009Second_parse_retry_failSecond parse retry fail
-6010Device_NOT_activeDevice NOT active
-6011L_stop_failL_stop fail
-6012PNC_Load_cfg_failPNC Load cfg fail
-6013I_start_failL start fail
-6014I_GetSubmodules_failL GetSubmodules fail
-6015Parse_Submodules_failParse Submodules fail
-6016Startup_set_mode_failStartup set mode fail
-6017Stop_set_mode_failStop set mode fail
-6018PNIO_interface_close_failret ref to define in pnioerr.h PNDriver
-6019PNIO_controller_close_failret ref to define in pnioerr.h PNDriver
-6020SERV_CP_shutdown_failret ref to define in pnioerr.h PNDriver
-6021SERV_CP_undo_init_failret ref to define in pnioerr.h PNDriver
-6022I_LoadFiles_failL LoadFiles fail
-6023Cannot_open_configuration_fileCannot open configuration_file
-6024Zero_size_of_configuration_fileZero size of configuration file
-6025Read_cfg_file_Malloc_failedRead cfg file Malloc failed
-6026Read_cfg_file_fread_failedRead cfg file fread failed
-6027SERV_CP_init_failret ref to define in pnioerr.h PNDriver
-6028SERV_CP_get_network_adapters_failret ref to define in pnioerr.h PNDriver
-6029SERV_CP_startup_failret ref to define in pnioerr.h PNDriver
-6030PNIO_controller_open_failret ref to define in pnioerr.h PNDriver
-6031PNIO_register_cbf_mode_ind_failret ref to define in pnioerr.h PNDriver
-6032PNIO_register_cbf_diag_resp_failret ref to define in pnioerr.h PNDriver
-6033PNIO_register_cbf_dev_act_failret ref to define in pnioerr.h PNDriver
-6034PNIO_register_cbf_opfault_ind_failret ref to define in pnioerr.h PNDriver
-6035PNIO_register_cbf_startup_ind_failret ref to define in pnioerr.h PNDriver
-6036PNC_submodList_read_req_failPNC submodList read req fail
-6037PNC_submodList_read_rsp_failPNC submodList read rsp fail
-6038PNC_submodList_read_No_rsp_failPNC submodList read No rsp fail
-6039Identification_Device_failWhich Device fail to be identified
-6040Alarm_error_one_timeError for which device, which drive object
-6041Alarm_error_still_presentError still present for which device, which drive object
-6042Max_SOL_error_exceededMax SOL error exceeded, for which device, which drive object
-6043DOs_over_Drives_P964By P964, Number of engineered DOs over drive commissioning, which device
-6044DOs_under_Drives_P964By P964, Number of engineered DOs under drive commissioning, which device
-6045DOs_over_Drives_a978By a978, Number of engineered DOs over drive commissioning, which device, DO counts, a978 counts
-6046Ident_DU_read_p964_failWhile identify DU, read p964 fail
-6047Ident_DOList_read_a978_failWhile identify DO list, read a978 fail
-6048Ident_DO_read_r975_failWhile identify DO, read r975 fail, which device, which DO ID
-6049Ident_DO_telegram_read_r922_failWhile identify DO telegram, read r922 fail, which device, which DO ID
-6050Ident_Device_Name_failWhile identify Device Name fail, which device, which DO ID
-6051Ident_Device_IP_failWhile identify Device IP fail, which device, which DO ID
-6052PDread_para_ctrl_WriteRecord_failedIn pd_read_parameter, ctrl_WriteRecord_failed, which device, which parameter
-6053PDread_para_ctrl_ReadRecord_failedIn pd_read_parameter, ctrl_ReadRecord_failed, which device, which parameter
-6054PNC_rec_write_req_failedIn ctrl_WriteRecord, PNC_rec_write_req failed
-6055PNC_rec_write_rsp_failedIn ctrl_WriteRecord, PNC_rec_write_rsp failed
-6056PNC_rec_write_req_no_repsonseIn ctrl_WriteRecord, PNC_rec_write_req no response
-6057PNC_rec_read_req_failedIn ctrl_ReadRecord, PNC_rec_read_req failed
-6058PNC_rec_read_rsp_failedIn ctrl_ReadRecord, PNC_rec_read_rsp failed
-6059PNC_rec_read_req_no_responseIn ctrl_ReadRecord, PNC_rec_read_req no response
-6060CBF_read_rec_Wrong_CbeTypeIn l_cbf_ds_read_conf, Wrong_CbeType
-6061CBF_read_rec_response_error_1In l_cbf_ds_read_conf, read record response error, what handle ID, what data record index, what request reference
-6062CBF_read_rec_response_error_2In l_cbf_ds_read_conf, read record response error, ErrCode, ErrCode1, ErrCode2, ErrDecode, reference to pniobase.h PNDriver
-6063CBF_read_rec_response_error_3In l_cbf_ds_read_conf, read record response error, AddValue1, AddValue2
-6064CBF_read_rec_reqRef_not_in_progressIn l_cbf_ds_read_conf, Record reqRef is not in progress, what handle ID, what data record index, what request reference
-6065OvercycleOver cycle caused Op fault, what CycleCount, With a cycle of 1 ms, the value is incremented each time by 32.
-6066CBF_ctrl_diag_resp_CbeTypeIn l_cbf_ctrl_diag_resp, Wrong_CbeType
-6067CBF_ctrl_diag_resp_req_failIn l_cbf_ctrl_diag_resp, Callback for controller diag request failed
-6068CBF_ctrl_diag_Max_devices_reachedIn l_cbf_ctrl_diag_resp, Maximum count of devices reached
-6069CBF_ctrl_diag_RT_not_supportIn l_cbf_ctrl_diag_resp, RT communication is not supported
-6070CBF_alarm_ind_Wrong_CbeTypeIn l_cbf_alarm_ind, Wrong_CbeType
-6071CBF_startup_cycData_read_failIn l_cbf_opfault_ind PNC_cycData_read fail, which device, ret ref to define in pnioerr.h PNDriver
-6072CBF_startup_cycData_write_failIn l_cbf_opfault_ind PNC_cycData_write fail, which device, ret ref to define in pnioerr.h PNDriver
-6073get_device_error_code_failget device error code fail
-6074device_cfg_differentdevice module configuration is different from xml
-6075parse_result_failError during second parse
-6076get_module_OrderID_failError during second parse, get module Oredr ID fail, which device, which slot
-6077get_module_cfg_failError during second parse, get module configuration fail, which device, which slot
-6078get_PN_device_name_failError during second parse, get PN device name fail, which device
-6079get_P1 linked_device_name_failError during second parse, get P1 linked device name fail, which device
-6080get_P2 linked_device_name_failError during second parse, get P2 linked device
name fail, which device
-6081get_device_OrderID_failError during second parse, get device Order ID fail, which device
-6082PN_Device_No_Not_allowedPN device number is more than 64 and is not allowed, which device
-6083Parse_topology_failParse topology fail
-6084Over_Drive_device_count_limitOver Drive device count limit
-6085PN_Device_Not_IRTPN Device is not set as IRT, which device
-6086Parse_topology_branch_failParse topology branch fail, there's no effective branch data
-6087Extra_link_DeviceParse topology fail, there's extra linked device, after which device
-6088Detect_motion_over_cycleDetected motion loop is over cycle time
-6089Detect_kernel_crashDetected kernel is crash
-6800MKERR_PN_PD_STATEinvalid PROFIdrive state
-6801MKERR_PN_ACK_FAULTAcknowledge fault to reset ALM is time out
-6802MKERR_PN_DRIVE_TYPEdevice is not servo drive
-6803MKERR_PN_NOT_ACTIVEdevice is not at ACTIVE state
-6804MKERR_PN_ARM_STATEinvalid ARM state
-6805MKERR_PN_CHANNEL_NUMInvalid channel number for IO
-6806MKERR_PN_PORT_NUMInvalid port number for IO
-6807MKERR_PN_DEVICE_NUMInvalid device number
-6808MKERR_PN_ASYNC_IO_ACCESSInvalid IO access mode; mode 0 for sync DIO and mode 3 for async DIO
# 40.Application Note # AMP-304C compare, trigger, latch AMP-304C is designed to be utilized for advanced compare, trigger, latch functions. Block diagram ![**Title:** AMP-304C compare, trigger, latch block diagram\n\n**Labeled Blocks:**\n* DI TTL DI Latch_in\n* DO TTL DO CMP_Out\n* External encoder 0\n* Internal command 0\n* External encoder 1\n* Internal command 1\n* External encoder 2\n* Internal command 2\n* External encoder 3\n* Internal command 3\n* Counter 0\n* Counter 1\n* Counter 2\n* Counter 3\n* Timer\n* Mux (appears 7 times total: 4 on the left, 3 on the right)\n* Manual trigger\n* Linear Comparator 0-3 (LCMP0-LCMP3) (contains text: 'compare data')\n* Table Comparator 0-3 (TCMP0-TCMP3) (contains text: 'compare data')\n* Trigger 0-3 (TR0-TR3)\n* Latch (contains text: 'latched data')\n\n**Connections:**\n* **Input Multiplexing:**\n * 'External encoder 0' and 'Internal command 0' both feed into a 'Mux', which outputs to 'Counter 0'.\n * 'External encoder 1' and 'Internal command 1' both feed into a 'Mux', which outputs to 'Counter 1'.\n * 'External encoder 2' and 'Internal command 2' both feed into a 'Mux', which outputs to 'Counter 2'.\n * 'External encoder 3' and 'Internal command 3' both feed into a 'Mux', which outputs to 'Counter 3'.\n* **Counters and Comparators:**\n * Outputs from 'Counter 0', 'Counter 1', 'Counter 2', and 'Counter 3' feed into a vertical bus line.\n * From this bus, three arrows feed into three vertically stacked 'Mux' blocks.\n * The top 'Mux' outputs to 'Linear Comparator 0-3 (LCMP0-LCMP3)'.\n * The middle 'Mux' outputs to 'Table Comparator 0-3 (TCMP0-TCMP3)'.\n * The bottom 'Mux' receives input from the vertical bus and the 'Timer'. It outputs to the 'Latch' block.\n* **Trigger Logic:**\n * 'Manual trigger' feeds into 'Trigger 0-3 (TR0-TR3)'.\n * 'Linear Comparator 0-3 (LCMP0-LCMP3)' feeds into 'Trigger 0-3 (TR0-TR3)'.\n * 'Table Comparator 0-3 (TCMP0-TCMP3)' feeds into 'Trigger 0-3 (TR0-TR3)'.\n* **Outputs and Latching:**\n * 'DI TTL DI Latch_in' connects to the 'Latch' block.\n * 'Trigger 0-3 (TR0-TR3)' outputs to the 'Latch' block.\n * 'Trigger 0-3 (TR0-TR3)' outputs to 'DO TTL DO CMP_Out'.](.aps-functionlibrary-v2-1/eb7e069679c0c7fb627788530bf7bd3c31fb8e11e0cc191495ac5f0b6dbd27e7.jpg) There are 4 counters, which’s source can be selected as external encoders or internal commands. Related axis parameter： PRA\_CNT\_SRC. The 4 counters are the compare data of linear comparators, table comparators and single comparators. Related trigger parameter： TGR\_LCMP0\_SRC\~ TGR\_LCMP3\_SRC, TGR\_TCMP0\_SRC\~ TGR\_TCMP3\_SRC. The source to trigger the position latch can be selected by LTC\_IPT. # PCIe-833x IO mapping PCIe-833x IO mapping suggest NOT to modify the content of configuration file manually. Please use MCP2 IOmapping form to do mapping and checking. The maximum number of software port in slave is “32” for each type IO. • IO-mapping GUI can be used by MCP2 only. User should be use configure file download API. • Configuration file can be save to "CSV" file by MCP2 IO-mapping form. No need to map module that ADLINK had integrated. # Step-by-step instructions for set up IO mapping using MCP2 # Step 1： Update kernel version：C:\Program Files (x86)\ADLINK\PCIe-833x\Kernel Update kernel version needs to be after 2022050503\_833x\_kernel. # Step 2： After field bus connect,and select tree view EtherCAT IO level will show IO mapping button.Click the button to start setting up the IO mapping. ![Motion Creator Pro 2\nFile View Initial Options Function About\nField Disconnect Process Data Connect Quality IO Mapping\nADLINK PCIE-833B Card No 0\nEtherCAT Axis\n(Slave 0 ) Panasonic S\nAxis 0 Alarm\n(Slave 1 ) Yasikawa Sla\nAxis 1 Alarm\nEtherCAT IO\n(00010010)Unknown\n(Slave 3 ) ADLINK ESM\n(Slave 4 ) ADLINK Slav\nEU-1108-DI\nEU-1008-DI\nEU-1108-DI\nEU-1008-DI\nEU-2008-DO\nEU-2108-DO\nEU-2008-DO\nEU-2108-DO\nEU-2108-DO\nEU-2008-DO\nEU-3104-AI\nEU-4104-AO\nEU-4304-AO\n(Slave 5 ) Beckhoff Sla\n(Slave 6 ) Beckhoff Sla\n(08283052)Unknown\n(Slave 7 ) Beckhoff Sla\n(07613052)Unknown\n(Slave 8 ) ADLINK ECA\nPCIe-8334 Card No 1\nEtherCAT Axis\nEtherCAT IO\nAMP-304C Card No 2 Motion\nAxis96 ServoOff\nAxis97 ServoOff\nAxis98 ServoOff\nAxis99 ServoOff\nOutput PDO Mapping Input PDO Mapping\nConfigurable PDO Mapping( Output )\nSlaveID SubMod No. Index Bit Length Offset Name Map No.\n2 0 0 1 0 DO1.Bit0\n2 0 1 1 1 DO1.bit1\n2 0 2 1 2 DO1.bit2\n2 0 3 1 3 DO1.bit3\n2 0 4 1 4 DO1.bit4\n2 0 5 1 5 DO1.bit5\n2 0 6 1 6 DO1.bit6\n2 0 7 1 7 DO1.bit7\n2 0 8 1 8 DO2.bit8\n2 0 9 1 9 DO2.bit9\n2 0 10 1 10 DO2.bit10\n2 0 11 1 11 DO2.bit11\nUser Defined PDO Mapping( Output )\nSel DO Mapping Clear\nSlaveID SubMod No. Index Access Length Port_No\nN/A N/A N/A N/A N/A\nSel AO Mapping Clear\nSlaveID SubMod No. Index Access Length LowerBound UpperBound Data Type Ch_No\nN/A N/A N/A N/A N/A N/A N/A N/A N/A\nConfigurable PDO Slave View Select( Output )\nSlave2 Slave3 Slave4 Slave6 Slave8 Apply Mapping Save To File Load From File](.aps-functionlibrary-v2-1/439fbb3c80f89e11ee7313955550635bc2cdd37a2a437655d7b483430e772706.jpg) # Step 2-1 ( Select DIO mapping )： Select need slave IO to mapping. Refer to Configurable PDO view and input corresponding parameters. ![Motion Creator Pro 2\nFile View Initial Options Function About\nField Disconnect Process Data Connect Quality IO Mapping\nINK\n*CIe-8338\nCard No 0\nEtherCAT Axis\n(Slave 0) Panasonic Slave\nAxis 0 Alarm\n(Slave 1) Yaskawa Slave\nAxis 1 Alarm\nEtherCAT IO\n(Slave 2) Vendor 0x471 Slave\n(00010010)Unknown 32 Output\n(Slave 3) ADLINK ESM-D622C4\n(Slave 4) ADLINK Slave\nEU-1108-DI\nEU-1008-DI\nEU-1108-DI\nEU-1008-DI\nEU-2008-DO\nEU-2108-DO\nEU-2008-DO\nEU-2108-DO\nEU-2108-DO\nEU-2008-DO\nEU-3104-AI\nEU-3304-AI\nEU-4104-AO\nEU-4304-AO\n(Slave 5) Beckhoff Slave\n(Slave 6) Beckhoff Slave\n(082830S2)Unknown 1 Output\n(Slave 7) Beckhoff Slave\n(076130S2)Unknown 1 Input 1\n(Slave 8) ADLINK ECAT-TRG4\nPCle-8334\nCard No 1\nEtherCAT Axis\nEtherCAT IO\nCMP-304C\nCard No 2\nMotion\nAxis96 ServoOff\nAxis97 ServoOff\nAxis98 ServoOff\nAxis99 ServoOff\nEtherCAT IO Mapping PCIe-8338 EtherCAT CardNo 0\nOutput PDO Mapping Input PDO Mapping\nConfigurable PDO Mapping( Output )\nSlaveID SubMod No. Index dit Length Offset Name Map No.\n6 0 0 1 0 Channel 1.Output\n6 0 1 1 Channel 2.Output\n6 0 2 1 Channel 3.Output\n6 0 3 1 Channel 4.Output\n6 0 4 1 Channel 5.Output\n6 0 5 1 Channel 6.Output\n6 0 6 1 Channel 7.Output\n6 0 7 1 Channel 8.Output\n8 0 0 16 0 Outputs_Axis0.Control Word0\n8 0 1 32 16 Outputs_Axis0.TargetPosition0\n8 0 2 32 48 Outputs_Axis0.MotionOutput0\n8 0 3 32 80 Outputs_Axis0.CMPCtrl0\nUser Defined PDO Mapping( Output )\nSe DO Mapping Clear\nSlaveID SubMod No. Index Access Length Port_No Clear\n6 0 0 8 0\nSel AO Mapping Clear\nSlaveID SubMod No. Index Access Length LowerBound UpperBound Data Type Ch_No\nN/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A(nl)Configurable PDO Slave View Select( Output )\nSlave2 Slave3 Slave4 Slave6 Slave8 Apply Mapping Save To File Load From File](.aps-functionlibrary-v2-1/e9732eaa4acc3f60e01a697886f815f10baea246477bd29b06f8568f67fd3035.jpg) ○1 Select need slave IO to mapping and refer Configurable PDO view. Tick the IO type that needs to be set. ○3 SlaveID fill in need mapping slave IO. SubMod No. fill in the corresponding SubMod No. Please refer to SubMod No in Configurable PDO View Contents. Index fills in the starting index. Please refer to Index in Configurable PDO View Content. ○4 Access Length fill in define the IObit required by the port. # DIO mapping parameters： SlaveID：Need mapping slave IO. SubMod No. ：Configurable PDO view Index：Access start index according to index in configurable PDO view content. Access Length：Access port length according to Bit Length in configurable PDO view content. Maximum : 32 bits Minimum : 1 bit Port\_No：Automatically generated. # Step 2-2 (Select AIO mapping )： Select need slave IO to mapping. Refer to Configurable PDO view and input corresponding parameters. ![Motion Creator Pro 2\nFile View Initial Options About\nField Module\nDLINK\nPCIe-8338 EtherCAT IO Mapping PCIe-8338 EtherCAT CardNo 0\nOutput PDO Mapping Input PDO Mapping\nConfigurable PDO Mapping( Output )\nSlaveID SubMod No. Index Bit Length Offset Name Map No.\n4 12 0 1 0 Module 12 (EU2008).Channels Data.Channel 1\n4 12 1 1 1 Module 12 (EU2008).Channels Data.Channel 2\n4 12 2 1 2 Module 12 (EU2008).Channels Data.Channel 3\n4 12 3 1 3 Module 12 (EU2008).Channels Data.Channel 4\n4 12 4 1 4 Module 12 (EU2008).Channels Data.Channel 5\n4 12 5 1 5 Module 12 (EU2008).Channels Data.Channel 6\n4 12 6 1 6 Module 12 (EU2008).Channels Data.Channel 7\n4 12 7 1 7 Module 12 (EU2008).Channels Data.Channel 8\n4 13 0 16 0 Module 13 (EU4304).Channels Data.Channel 1\n4 13 1 16 Module 13 (EU4304).Channels Data.Channel 2\n4 13 2 16 Module 13 (EU4304).Channels Data.Channel 3\n4 13 3 16 Module 13 (EU4304).Channels Data.Channel 4\nUser Defined PDO Mapping( Output )\n✓ Sel DO Mapping Clear ✓ Sel AO Mapping \nSlaveID SubMod No. Index Access Length Port_No \n6 0 0 8 0 \n4 13 0 16 LowerBound UpperBound Data Type Ch_No \n4 13 1 16\n4 13 2 16 -5 5 0\n3\n4\n5\n6\n7\n8\n9\n10\n11\n12\n13\n14\n15\n16\n17\n18\n19\n20\n21\n22\n23\n24\n25\n26\n27\n28\n29\n30\n31\n32\n33\n34\n35\n36\n37\n38\n39\n40\n41\n42\n43\n44\n45\n46\n47\n48\n49\n50\n51\n52\n53\n54\n55\n56\n57\n58\n59\n60\n61\n62\n63\n64\n65\n66\n67\n68\n69\n70\n71\n72\n73\n74\n75\n76\n77\n78\n79\n80\n81\n82\n83\n84\n85\n86\n87\n88\n89\n90\n91\n92\n93\n94\n95\n96\n97\n98\n99\n100](.aps-functionlibrary-v2-1/dd111abcb3f8ad96bcf65cbab7cdf04fa0891655e11cf2e4da79223cbaa7574f.jpg) ○1 Select need slave IO to mapping and refer Configurable PDO view. Tick the IO type that needs to be set. ○3 SlaveID fill in need mapping slave IO. SubMod No. fill in the corresponding SubMod No. Please refer to SubMod No in Configurable PDO View Contents. Index fills in the starting index. Please refer to Index in Configurable PDO View Content. ○4 Access Length fill in define the IObit required by the port. ○5 LowerBound fill in physical lower limit. UpperBound fill in physical upper limit. Data type fill in Representation type(0：Unsigned integer、1：Signed integer、2：Absolute valuewith MSB as sign、3：Raw data) # AIO mapping parameters： SlaveID：Need mapping slave IO. SubMod No. ：Configurable PDO view Index：Access start index according to index in configurable PDO view content. Access Length：Access channel length according to Bit Length in configurable PDO view content.(Note: need correct length) LowerBound：physical lower limit. UpperBound：physical upper limit. Data type：Representation type Type 0(Unsigned integer) E.g., for 16 bits = 0 to +65535 Type 1(Signed integer) E.g., for 16 bits = -32768 to +32767 Type 2(Absolute value with MSB as sign) E.g., for 16 bits = -32767 to +32767 Type 3(Raw data) Ch\_No：Automatically generated. # Step 2-3 ：( User Defiend PDO Mapping) Add and Delete row have two method： Right-click on the table ![SlaveID SubMod No. Index Access Length Port_No\n6 0 0 8 0\nAdd New Row(last)\nDelete Row(current)](.aps-functionlibrary-v2-1/8ddd3286a92fe8afebaff1ffdb068af474c36487e791fbd352bfa0dd383999ca.jpg) Using the keyboard Add(Ctrl+enter)、Delete(Ctrl+delete)
SlaveIDSubMod No.IndexAccess LengthPort_No
60080
60081
60082
Hint： Move the mouse over the table and hint will appear. ![✓ Sel DO Mapping\nClear\nSlaveID SubMod No. Index Access Length Port_No\nN/A N/A N/A N/A\nPlease refer to the SubMod No. column in the PDO view table.](.aps-functionlibrary-v2-1/a6698cf1b8474a20d28f712f45537d51af0b2ae45f08692ebb26acbb94069858.jpg) ![✓ Sel DI Mapping\nClear\nSlaveID SubMod No. Index Access Length Port_No\nN/A N/f N/A ...?\nPlease refer to the SubMod No. column in the PDO view table.](.aps-functionlibrary-v2-1/120b4921d90ad4ce0c0dec9028670ec644c86446133681593e3c73b7dffa7d04.jpg) User Defiend DIO mapping hint
✓ Sel AO MappingClear
SlaveIDSubMod No.IndexAccess LengthLowerBoundUpperBoundData TypeCh_No
N/AN/AN/AN/AN/AN/AN/AN/A
Please set a physical lower limit.
✓ Sel AI MappingClear
SlaveIDSubMod No.IndexAccess LengthLowerBoundUpperBoundData TypeCh_No
N/AN/AN/AN/AN/AN/AN/AN/A
0: Unsigned integer with N-bit resolution without sign, therefore polarity detection is no longer possible. Example : Range for 16 bits = 0 to +65535 1: Signed integer(2's complement(negated + 1)). Example : Range for 16 bits = -32768 to +32767 dec. 2: Absolute value with MSB=1 (highest bit) as sign of negative values. Example : Range for 16 bits = -32767 to +32767 dec. 3: Raw data has no transformation between physical value and raw data.
User Defiend AIO mapping hint # Step3： Click the Apply Mapping button. Configurable PDO view will show mapping results. Tree view will show software define Port No. or Channel No. ![Motion Creator Pro 2\nFile View Initial Options Function About\nAxis/Board Para DIO Control Kernel Performance\nADLINK\nPCIe-833B EtherCAT CardNo 0\nOutput PDO Mapping Input PDO Mapping\nConfigurable PDO Mapping( Output )\nSlaveID SubMod No. Index Bit Length Offset Name Map No.\n6 0 0 1 0 Channel 1.Output Port_No 0,\n6 0 1 1 1 Channel 2.Output Port_No 0,\n6 0 2 1 2 Channel 3.Output Port_No 0,\n6 0 3 1 3 Channel 4.Output Port_No 0,\n6 0 4 1 4 Channel 5.Output Port_No 0,\n6 0 5 1 5 Channel 6.Output Port_No 0,\n6 0 6 1 6 Channel 7.Output Port_No 0,\n6 0 7 1 7 Channel 8.Output Port_No 0,\n8 0 10 Outputs_Axis0.TargetPosition0\n8 0 1 32 16 Outputs_Axis0.TargetPosition0\n8 0 2 32 48 Outputs_Axis0.MotionOutput0\n8 0 3 32 80 Outputs_Axis0.CMPCtrl0\nUser Defined PDO Mapping( Output )\nSel DO Mapping Clear\nSlaveID SubMod No. Index Access Length Port_No\n6 0 0 8\nSel AO Mapping Clear\nSlaveID SubMod No. Index Access Length LowerBound UpperBound Data Type Ch_No\nN/A N/A N/A N/A N/A N/A N/A\nN/A N/A N/A N/A N/A N/A N/A\nApply Mapping Save To File Load From File\nPCIe-8334\nCard No 1 EtherCAT Axis EtherCAT IO\nAMP-304C\nCard No 2 Motion Axis96 ServoOff Axis97 ServoOff Axis98 ServoOff Axis99 ServoOff\nSlave 6 Beckoff Sla\nPort 0-DO\nSlave 7 Beckoff Sla\nSlave 8 Beckoff Sla\nSlave 9 Beckoff Sla\nSlave 10 Beckoff Sla\nSlave 11 Beckoff Sla\nSlave 12 Beckoff Sla\nSlave 13 Beckoff Sla\nSlave 14 Beckoff Sla\nSlave 15 Beckoff Sla\nSlave 16 Beckoff Sla\nSlave 17 Beckoff Sla\nSlave 18 Beckoff Sla\nSlave 19 Beckoff Sla\nSlave 20 Beckoff Sla\nSlave 21 Beckoff Sla\nSlave 22 Beckoff Sla\nSlave 23 Beckoff Sla\nSlave 24 Beckoff Sla\nSlave 25 Beckoff Sla\nSlave 26 Beckoff Sla\nSlave 27 Beckoff Sla\nSlave 28 Beckoff Sla\nSlave 29 Beckoff Sla\nSlave 30 Beckoff Sla\nSlave 31 Beckoff Sla\nSlave 32 Beckoff Sla\nSlave 33 Beckoff Sla\nSlave 34 Beckoff Sla\nSlave 35 Beckoff Sla\nSlave 36 Beckoff Sla\nSlave 37 Beckoff Sla\nSlave 38 Beckoff Sla\nSlave 39 Beckoff Sla\nSlave 40 Beckoff Sla\nSlave 41 Beckoff Sla\nSlave 42 Beckoff Sla\nSlave 43 Beckoff Sla\nSlave 44 Beckoff Sla\nSlave 45 Beckoff Sla\nSlave 46 Beckoff Sla\nSlave 47 Beckoff Sla\nSlave 48 Beckoff Sla\nSlave 49 Beckoff Sla\nSlave 50 Beckoff Sla\nSlave 51 Beckoff Sla\nSlave 52 Beckoff Sla\nSlave 53 Beckoff Sla\nSlave 54 Beckoff Sla\nSlave 55 Beckoff Sla\nSlave 56 Beckoff Sla\nSlave 57 Beckoff Sla\nSlave 58 Beckoff Sla\nSlave 59 Beckoff Sla\nSlave 60 Beckoff Sla\nSlave 61 Beckoff Sla\nSlave 62 Beckoff Sla\nSlave 63 Beckoff Sla\nSlave 64 Beckoff Sla\nSlave 65 Beckoff Sla\nSlave 66 Beckoff Sla\nSlave 67 Beckoff Sla\nSlave 68 Beckoff Sla\nSlave 69 Beckoff Sla\nSlave 70 Beckoff Sla\nSlave 71 Beckoff Sla\nSlave 72 Beckoff Sla\nSlave 73 Beckoff Sla\nSlave 74 Beckoff Sla\nSlave 75 Beckoff Sla\nSlave 76 Beckoff Sla\nSlave 77 Beckoff Sla\nSlave 78 Beckoff Sla\nSlave 79 Beckoff Sla\nSlave 80 Beckoff Sla\nSlave 81 Beckoff Sla\nSlave 82 Beckoff Sla\nSlave 83 Beckoff Sla\nSlave 84 Beckoff Sla\nSlave 85 Beckoff Sla\nSlave 86 Beckoff Sla\nSlave 87 Beckoff Sla\nSlave 88 Beckoff Sla\nSlave 89 Beckoff Sla\nSlave 90 Beckoff Sla\nSlave 91 Beckoff Sla\nSlave 92 Beckoff Sla\nSlave 93 Beckoff Sla\nSlave 94 Beckoff Sla\nSlave 95 Beckoff Sla\nSlave 96 Beckoff Sla\nSlave 97 Beckoff Sla\nSlave 98 Beckoff Sla\nSlave 99 Beckoff Sla](.aps-functionlibrary-v2-1/e4691b4ffb257f1b8bba77f0267bfdf715ff132818c6217a7a93bbd747383772.jpg) DIO mapping show software define Port No. ![Motion Creator Pro 2\nFile View Initial Options Function About\nAxis/Board Para DIO Control Kernel Performance\nADLINK\nPCIe-8338\nCard No 0\nEtherCAT Axis\n(Slave 0 ) Panasonic Sl\nAxis 0 Alarm\n(Slave 1 ) Yaskawa Sla\nAxis 1 Alarm\nEtherCAT IO\n(Slave 2 ) Vendor 0x4\n( 00010010 ) Unknor\n(Slave 3 ) ADLINK ESM\n(Slave 4 ) ADLINK Slav\nEU-1108-DI\nEU-1008-DI\nEU-1108-DI\nEU-1008-DI\nEU-2008-DO\nEU-2108-DO\nEU-2008-DO\nEU-2108-DO\nEU-2108-DO\nEU-2008-DO\nEU-3104-AI\nChannel 0 -AO\nChannel 1 -AO\nChannel 2 -AO\n(Slave 5 ) Beckhoff Sla\n(Slave 6 ) Beckhoff Sla\nPort 0-DO\n(Slave 7 ) Beckhoff Sla\nPort 0-DI\n(Slave 8 ) ADLINK ECA\nPCIe-8334\nCard No 1\nEtherCAT Axis\nEtherCAT IO\nAMP-304C\nCard No 2\nMotion\nAxis96 ServoOff\nAxis97 ServoOff\nAxis98 ServoOff\nAxis99 ServoOff\nOutput PDO Mapping Input PDO Mapping\nConfigurable PDO Mapping( Output )\nSlaveID SubMod No. Index Bit Length Offset Name Map No.\n1 12 6 1 6 Module 12 (EU2008).Channels Data.Channel 7\n4 12 7 1 7 Module 12 (EU2008).Channels Data.Channel 8\n4 13 0 16 0 Module 13 (EU4304).Channels Data.Channel 1 Ch_No 0,\n4 13 1 16 Module 13 (EU4304).Channels Data.Channel 2 Ch_No 1,\n4 13 2 16 Module 13 (EU4304).Channels Data.Channel 3 Ch_No 2,\n4 13 3 16 48 Module 13 (EU4304).Channels Data.Channel 4\n6 0 0 1 0 Channel 1.Output Port_No 0,\n6 0 1 1 1 Channel 2.Output Port_No 0,\n6 0 2 1 2 Channel 3.Output Port_No 0,\n6 0 3 1 3 Channel 4.Output Port_No 0,\n6 0 4 1 4 Channel 5.Output Port_No 0,\n6 0 5 1 5 Channel 6.Output Port_No 0,\nUser Defined PDO Mapping( Output )\nSel DO Mapping Clear\nSlaveID SubMod No. Index Access Length Port_No\n6 0 0 8\nSel AO Mapping Clear\nSlaveID SubMod No. Index Access Length LowerBound UpperBound Data Type Ch_No\n4 13 0 16 0 10 0 0\n4 13 1 16 5 5 0 1\n4 13 2 16 -5 5 0 2\nConfigurable PDO Slave View Select( Output )\nSlave2 Slave3 Slave4 Slave6 Slave8 Apply Mapping Save To File Load From File](.aps-functionlibrary-v2-1/f37e6b6bcc75f09e3b1f45f630775d487582472e7951226d3ee9a75f9f83b6ff.jpg) AIO mapping show software define Channel No. # Step4 ： If select tree view software define Port No. will show Field module button. Click the button to start DO/DI port control( default 32 DO/DI view ). This DO/DI control bits follows how much length the user sets. An error code is returned if the DIO bits controlled by the user settings are exceeded. ![Motion Creator Pro 2\nFile View Install Options About\nField Module\nADLINK\nPCIe-B338\nCard No 0\nEtherCAT Axis\n(Slave 0) Panasonic Slave\nAxis 0 Alarm\n(Slave 1) Yaskawa Slave\nAxis 1 Alarm\nEtherCAT IO\n(Slave 2) Vendor 0x471 SI\n(00010010)Unknown 32\n(Slave 3) ADLINK ESM-D62\n(Slave 4) ADLINK Slave\nEU-1108-DI\nEU-1008-DI\nEU-1108-DI\nEU-1008-DI\nEU-2008-DO\nEU-2108-DO\nEU-2008-DO\nEU-2108-DO\nEU-2108-DO\nEU-2008-DO\nEU-3104-AI\nEU-3304-AI\nEU-4104-AO\nEU-4304-AO\n(Slave 5) Beckhoff Slave\n(07613052)Unknown 1\n(Slave 8) ADLINK ECAT-TR\nPCIe-B334\nCard No 1\nEtherCAT Axis\nEtherCAT IO\nAMP-304C\nCard No 2\nMotion\nAxis96 ServoOff\nAxis97 ServoOff\nAxis98 ServoOff\nAxis99 ServoOff\nPCIe-8338 EtherCAT CardID 0 Slave ID 6 DO Port 0\nDO\nON 7 OFF 6 OFF 5 OFF 4 OFF 3 OFF 2 OFF 1 ON 0\nOFF 15 OFF 14 OFF 13 OFF 12 OFF 11 OFF 10 OFF 9 OFF 8\nOFF 23 OFF 22 OFF 21 OFF 20 OFF 19 OFF 18 OFF 17 OFF 16\nOFF 31 OFF 30 OFF 29 OFF 28 OFF 27 OFF 26 OFF 25 OFF 24\nMap No.\nPort_No_0,\nPort_No_0,\nPort_No_0,\nPort_No_0,\nPort_No_0,\nPort_No_0,\nPort_No_0,\nPort_No_0,\nPort_No_0,\nPort_No_0,\nPort_No_0,\nPort_No_0,\nPort_No_0,\nPort_No_0,\nPort_No_0,\nPort_No_0,\nPort_No_0,\nPort_No_0,\nPort_No_0,\nPort_No_0,\nPort_No_0, Control Word0\nOutputs_Axis0. Control Word0\nOutputs_Axis0. TargetPosition0\nOutputs_Axis0. MotionOutput0\nOutputs_Axis0. CMPCtrl0\nUser Defined PDO Mapping( Output )\nSel DO Mapping Clear\nSlaveID SubMod No. Index Access Length Port_No\n6 0 0 8 0\nSet AO Mapping Clear\nSlaveID SubMod No. Index Access Length LowerBound UpperBound Data Type Ch_No\nN/A N/A N/A N/A N/A N/A N/A N/A N/A N/A\nConfigurable PDO Slave View Select( Output )\nSlave2 Slave3 Slave4 Slave6 Slave8\nApply Mapping Save To File Load From File](.aps-functionlibrary-v2-1/9adce60987109f81c639f6b4f942715e4e7f264c9d76059321fea1e3ad8af090.jpg) If select tree view software define Channel No. will show Field module button. Click the button to start AO/AI channel control( default 1 channel). ![Motion Creator Pro 2\nAbout\nField Module\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 0\nRange: 0 -) 10\nCh 0 ( ) 0\nRange: 0 -) 5\nCh 1 ( ) 0\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 1\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 2\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 3\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 4\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 5\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 6\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 7\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 8\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 9\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 10\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 11\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 12\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 13\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 14\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 15\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 16\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 17\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 18\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 19\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 20\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 21\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 22\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 23\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 24\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 25\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 26\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 27\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 28\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 29\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 30\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 31\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 32\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 33\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 34\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 35\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel 36\nRange: -5 -) 5\nCh 2 ( ) -5\nPCIe-8338 EtherCAT CardID 0 Slave ID 4 AO Channel](.aps-functionlibrary-v2-1/2fc5858cbe85a0e82b498c3a0c0477144a19a4155e52f680f3654b2306ed92fb.jpg) # Save/Load file and apply mapping instructions # Step1 ： Click the Save to File button to export the io map data to a file. ![Motion Creator Pro 2\nFile View Initial Options About\nField Module\nADLINK\nPCIe-833B\nCard No 0\nEtherCAT IO\n(Slave 0) Panasonic Sl\nAxis 0 Alarm\n(Slave 1) Yaskawa Sla\nAxis 1 Alarm\nEtherCAT IO\n(Slave 2) Vendor 0x4\n(00010010) Unknown\n(Slave 3) ADLINK ESM\n(Slave 4) ADLINK Slav\nEU-1108-DI\nEU-1008-DI\nEU-1008-DI\nEU-2008-DO\nEU-2108-DO\nEU-3104-AI\nEU-3304-AI\nChannel 0-AO\nChannel 1-AO\nChannel 2-AO\n(Slave 5) Beckhoff Sla\n(Slave 6) Beckhoff Sla\nPort 0-DO\n(Slave 7) Beckhoff Sla\nPort 0-DI\n(Slave 8) ADLINK ECA*\nPCIe-8334\nCard No 1\nEtherCAT Axis\nEtherCAT IO\nAMP-304C\nCard No 2\nMotion\nAxis96 ServOff\nAxis97 ServOff\nAxis98 ServOff\nAxis99 ServOff\n\nEtherCAT IO Mapping PCIe-833B EtherCAT CardNo 0\nOutput PDO Mapping Input PDO Mapping\nConfigurable PDO Mapping( Output )\nSlaveID SubMod No. Index Bit Length Offset Name Map No.\n4 12 7 1 7 Module 12 (EU2008).Channels Data.Channel 8\n4 13 0 16 0 Module 13 (EU4304).Channels Data.Channel 1 Ch_No 0,\n4 13 1 16 16 Module 13 (EU4304).Channels Data.Channel 2 Ch_No 1,\n4 13 2 16 32 Module 13 (EU4304).Channels Data.Channel 3 Ch_No 2,\n4 13 3 16 48 Module 13 (EU4304).Channels Data.Channel 4\n6 0 0 1 0 Channel 1.Output Port_No 0,\n6 0 1 1 1 Channel 2.Output Port_No 0,\n6 0 2 1 2 Channel 3.Output Port_No 0,\n6 0 3 1 3 Channel 4.Output Port_No 0,\n6 0 4 1 4 Channel 5.Output Port_No 0,\n6 0 5 1 5 Channel 6.Output Port_No 0,\n6 0 6 1 6 Channel 7.Output Port_No 0,\n\nUser Defined PDO Mapping( Output )\nSel DO Mapping Clear\nSlaveID SubMod No. Index Access Length Port_No\n6 0 0 8\n\nSel AO Mapping Clear\nSlaveID SubMod No. Index Access Length LowerBound UpperBound Data Type Ch_No\n4 13 0 16 0 10 0\n4 13 1 16 0 5 0\n4 13 2 16 -5 5 0\nConfigurable PDO Slave View Select( Output )\nSlave2 Slave3 Slave4 Slave6 Slave8\n\nApply Mapping Save To File Load From File\n\n另存新模\n储存於(0): 点面\n本機\n快速存款\n保壁槽\n桌面\nPaul(J)\n到散60:1 GB,共114 GB\n煤器槽\n线路\n本機\nPCie-833B EtherCAT CardNo O\nECATIOMapping.csv\nMicrosoft Excel 填點分隔值圖像\n\n框索名稱(0): PCIe-833B EtherCAT CastNo B ECATIOMapping.csv \n存檔(5)\n存檔類型(T): *.csv\n\nSave To File](.aps-functionlibrary-v2-1/197f0aedad294f06eb2437ec54fdd6f45a1e819c2e7197f320db80cc79d38541.jpg) # Step2： Click the Load from file button to import and check the file contents. ![Motion Creator Pro.2\nFile View Initial Options Function About\nAxis/Board Para DIO Control Kernel Performance\nADLINK\nPCIe-8338\nCard No 0\nEtherCAT Axis\n(Slave 0) Panasonic Sl\nAxis 0 Alarm\n(Slave 1) Yaskawa Sla\nAxis 1 Alarm\nEtherCAT IO\n(Slave 2) Vendor Dx4\n(00010010)Unkno\n(Slave 3) ADLINK ESM\n(Slave 4) ADLINK Slav\nEU-1108-DI\nEU-1008-DI\nEU-1108-DI\nEU-1008-DI\nEU-2008-DO\nEU-2108-DO\nEU-2008-DO\nEU-3104-AI\nEU-3304-AI\n(Slave 5) Beckhoff Sla\n(Slave 6) Beckhoff Sla\n(Slave 7) Beckhoff Sla\n(Slave 8) ADLINK ECA\nPCIe-8334\nCard No 1\nEtherCAT Axis\nEtherCAT IO\nAMP-304C\nCard No 2\nMotion\nAxis96 ServoOff\nAxis97 ServoOff\nAxis98 ServoOff\nAxis99 ServoOff\nOutput PDO Mapping Input PDO Mapping\nConfigurable PDO Mapping( Output )\nSlaveID SubMod No. Index Bit Length Offset Name Map No.\n4 2 0 1 0 Module 2 (EU2008).Channels Data.Channel 1\n4 2 1 1 1 Module 2 (EU2008).Channels Data.Channel 2\n4 2 2 1 2 Module 2 (EU2008).Channels Data.Channel 3\n4 2 3 1 3 Module 2 (EU2008).Channels Data.Channel 4\n4 2 4 1 4 Module 2 (EU2008).Channels Data.Channel 5\n4 2 5 1 5 Module 2 (EU2008).Channels Data.Channel 6\n4 2 6 1 6 Module 2 (EU2008).Channels Data_Channel 7\n4 2 7 1 7 Module 2 (EU2008).Channels Data_Channel 8\n4 4 0 1 0 Module 4 (EU2108).Channels Data.Channel 1\n4 4 1 1 1 Module 4 (EU2108).Channels Data_Channel 2\n4 4 2 1 2 Module 4 (EU2108).Channels Data.Channel 3\n4 4 3 1 3 Module 4 (EU2108).Channels Data.Channel 4\nUser Defined PDO Mapping( Output )\nSel DO Mapping Clear\nSlaveID SubMod No. Index Access Length Port_No\nN/A N/A N/A N/A N/A\nSel AO Mapping Clear\nSlaveID SubMod No. Index Access Length LowerBound UpperBound Data Type Ch_No\nN/A N/A N/A N/A N/A N/A N/A N/A N/A\nConfigurable PDO Slave View Select( Output )\nSlave2 Slave3 Slave4 Slave6 Slave8 Apply Mapping Save To File Load From File](.aps-functionlibrary-v2-1/cf519960ecd67b4f0803f7d4ca1b0b52dccfd32474fbab3620f81f25fcc87039.jpg) [🔗 Link to the original document](.aps-functionlibrary-v2-1/aps-functionlibrary-v2-1.pdf)